ROBOSTEP_5期 / Hobbyking_Cheetah_Compact_DRV8323

BLDC motor driver

Dependencies:   mbed-dev-f303 FastPWM3

math_ops.cpp

Committer:
benkatz
Date:
2017-03-02
Revision:
20:bf9ea5125d52
Child:
25:f5741040c4bb

File content as of revision 20:bf9ea5125d52:


#include "math_ops.h"


float fmaxf(float x, float y){
    return (((x)>(y))?(x):(y));
    }

float fminf(float x, float y){
    return (((x)<(y))?(x):(y));
    }

float fmaxf3(float x, float y, float z){
    return (x > y ? (x > z ? x : z) : (y > z ? y : z));
    }

float fminf3(float x, float y, float z){
    return (x < y ? (x < z ? x : z) : (y < z ? y : z));
    }
    
void limit_norm(float *x, float *y, float limit){
    float norm = sqrt(*x * *x + *y * *y);
    if(norm > limit){
        *x = *x * limit/norm;
        *y = *y * limit/norm;
        }
    }