/*********** AE  759 HW#6********************/
//A program to create training and testing data in ASCII format
//The files are: for training data:
//   hw6train.nna and for testing hw6test1.nna, hw6test2.nna, hw6test3.nna


#include <stdio.h>
#include <process.h>
#include <conio.h>
#include <math.h>

FILE *f1;   //pointer to training data file
FILE *f2;	//pointer to testing data file1
FILE *f3;	//pointer to testing data file2
FILE *f4;	//pointer to testing data file3

int main()

{

   float theta, theta1, theta2, l1=1, l2=1.5, h=1, x1, x2, pi=3.14159, todeg, torad;

   clrscr();

   f1 = fopen ("hw6train.nna", "wt");
   f2 = fopen ("hw6test1.nna", "wt");
   f3 = fopen ("hw6test2.nna", "wt");
   f4 = fopen ("hw6test3.nna", "wt");
   /* "wt" means the file is a write only text file */


	//printf ("t\ttorque\ttheta\tw\tx1(t+1)\tx2(t+1)\ttheta+1\tw(t+1)\n\n");
	//printf ("x1(des) \t x2(des) \t theta1T \t theta2T \n \n");
	//fprintf (f1,"!x1\tx2\tthe1T\tthe2T\n\n");

//variables to convert between deg and rad
	todeg=180/pi;
	torad=pi/180;



	//For training set
   for (theta1 = 45*torad; theta1<(270*torad); theta1=theta1+0.05)

	    {

			for (theta2=0; theta2<(180*torad); theta2=theta2+0.05)
				{
			   		x1=l1*cos(theta1-(90*torad)) + l2*sin(theta2+theta1-(180*torad));
					x2=h+l1*sin(theta1-(90*torad))-l2*cos(theta2+theta1-(180*torad));

					if (x1>=1 && x1<=2 && x2>=0 && x2<=1)
						{
							printf ("%.2f \t %.2f \t %.2f \t %.2f \n",x1, x2, theta1*todeg, theta2*todeg);
							fprintf (f1, "%.2f \t %.2f \t %.2f \t %.2f \n",x1, x2, theta1*todeg, theta2*todeg);
						}

				}
			printf ("\n");
			fprintf (f1, "\n");
		}

	fclose (f1);

//Testing SET1
	for (x1=1.0; x1<=2.1; x1=x1+0.1)
		{
			x2=x1-1;
			printf ("%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
			fprintf (f2, "%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
		}
	fprintf (f2,"\n\n");

	for (x1=1.0; x1<=2.1; x1=x1+0.1)
		{
			x2=2-x1;
			printf ("%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
			fprintf (f2, "%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
		}

	fclose (f2);


//Testing SET2
	for (theta=0; theta<=(355.1*torad); theta=theta+(5*torad))
		{
			x1=1.5+0.40*cos(theta);
			x2=0.5+0.40*sin(theta);
			printf ("%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
			fprintf (f3, "%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
		}

	fclose (f3);


//Testing SET3
	for (theta=0; theta<=(355.1*torad); theta=theta+(5*torad))
		{
			x1=1.5+0.60*cos(theta);
			x2=0.5+0.60*sin(theta);
			printf ("%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
			fprintf (f4, "%.2f \t %.2f \t 0.00 \t 0.00 \n",x1, x2);
		}

	fclose (f4);




}
//end main