
Quadrirotor
Dependencies: CommonTypes ESC Matrix PID Servo kalman mbed-rtos mbed
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MathFuncs.h
00001 /* 00002 * SOURCE FILE : MathFuncs.h 00003 * 00004 * Definition of class MathFuncs. 00005 * 00006 */ 00007 00008 #ifndef MathFuncsDefined 00009 00010 #define MathFuncsDefined 00011 00012 #include "Types.h" 00013 00014 /** Various useful maths related functions. */ 00015 class MathFuncs { 00016 00017 public : 00018 00019 /** Constrain a number to be between 2 values. 00020 * 00021 * @param x Number to constrain. 00022 * @param min Minimum value. 00023 * @param max Maximum value. 00024 * @returns A number between min and max. 00025 */ 00026 static Int16 Constrain( Int16 x, Int16 min, Int16 max ) { 00027 if( x < min ) { 00028 return min; 00029 } 00030 else if( x > max ) { 00031 return max; 00032 } 00033 else { 00034 return x; 00035 } 00036 } 00037 00038 }; 00039 00040 #endif 00041 00042 /* END of MathFuncs.h */ 00043
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