zebra
/
ZebraJointController
zebra joint controller firmware (originally from MIT HKC motor controller by benkatz)
FastMath/FastMath.cpp@55:1c704b515383, 2021-02-05 (annotated)
- Committer:
- kageyuta
- Date:
- Fri Feb 05 10:49:02 2021 +0000
- Revision:
- 55:1c704b515383
- Parent:
- 20:bf9ea5125d52
stable version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | #include "FastMath.h" |
benkatz | 0:4e1c4df6aabd | 2 | #include "LUT.h" |
benkatz | 0:4e1c4df6aabd | 3 | |
benkatz | 0:4e1c4df6aabd | 4 | const float Multiplier = 81.4873308631f; |
benkatz | 0:4e1c4df6aabd | 5 | |
benkatz | 0:4e1c4df6aabd | 6 | float FastMath::FastSin(float theta){ |
benkatz | 20:bf9ea5125d52 | 7 | while (theta < 0.0f) theta += 6.28318530718f; |
benkatz | 20:bf9ea5125d52 | 8 | while (theta >= 6.28318530718f) theta -= 6.28318530718f; |
benkatz | 0:4e1c4df6aabd | 9 | return SinTable[(int) (Multiplier*theta)] ; |
benkatz | 0:4e1c4df6aabd | 10 | } |
benkatz | 0:4e1c4df6aabd | 11 | |
benkatz | 0:4e1c4df6aabd | 12 | float FastMath::FastCos(float theta){ |
benkatz | 0:4e1c4df6aabd | 13 | return FastSin(1.57079632679f - theta); |
benkatz | 0:4e1c4df6aabd | 14 | } |