Corentin Courtot
asser
Dependencies: mbed X_NUCLEO_IHM02A1
math_precalc.cpp@5:bbca34b60427, 2019-05-19 (annotated)
- Committer:
- Coconara
- Date:
- Sun May 19 20:09:32 2019 +0000
- Revision:
- 5:bbca34b60427
- Parent:
- 2:5764f89a27f6
asser
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Coconara | 0:6ca63d45f0ee | 1 | #include "math_precalc.h" |
| Coconara | 0:6ca63d45f0ee | 2 | |
| Coconara | 0:6ca63d45f0ee | 3 | |
| Coconara | 0:6ca63d45f0ee | 4 | const float t_cos_precalc[3143] = {1.000000, 1.000000, 0.999998, 0.999996, 0.999992, 0.999988, 0.999982, 0.999976, 0.999968, 0.999960, 0.999950, 0.999940, 0.999928, 0.999916, 0.999902, 0.999888, 0.999872, 0.999856, 0.999838, 0.999820, 0.999800, 0.999780, 0.999758, 0.999736, 0.999712, 0.999688, 0.999662, 0.999636, 0.999608, 0.999580, 0.999550, 0.999520, 0.999488, 0.999456, 0.999422, 0.999388, 0.999352, 0.999316, 0.999278, 0.999240, 0.999200, 0.999160, 0.999118, 0.999076, 0.999032, 0.998988, 0.998942, 0.998896, 0.998848, 0.998800, 0.998750, 0.998700, 0.998648, 0.998596, 0.998542, 0.998488, 0.998432, 0.998376, 0.998318, 0.998260, 0.998201, 0.998140, 0.998079, 0.998016, 0.997953, 0.997888, 0.997823, 0.997756, 0.997689, 0.997620, 0.997551, 0.997481, 0.997409, 0.997337, 0.997263, 0.997189, 0.997113, 0.997037, 0.996960, 0.996881, 0.996802, 0.996721, 0.996640, 0.996557, 0.996474, 0.996390, 0.996304, 0.996218, 0.996130, 0.996042, 0.995953, 0.995862, 0.995771, 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| Coconara | 0:6ca63d45f0ee | 5 | const float t_sin_precalc[3143] = {0.000000, 0.001000, 0.002000, 0.003000, 0.004000, 0.005000, 0.006000, 0.007000, 0.008000, 0.009000, 0.010000, 0.011000, 0.012000, 0.013000, 0.014000, 0.014999, 0.015999, 0.016999, 0.017999, 0.018999, 0.019999, 0.020998, 0.021998, 0.022998, 0.023998, 0.024997, 0.025997, 0.026997, 0.027996, 0.028996, 0.029996, 0.030995, 0.031995, 0.032994, 0.033993, 0.034993, 0.035992, 0.036992, 0.037991, 0.038990, 0.039989, 0.040989, 0.041988, 0.042987, 0.043986, 0.044985, 0.045984, 0.046983, 0.047982, 0.048980, 0.049979, 0.050978, 0.051977, 0.052975, 0.053974, 0.054972, 0.055971, 0.056969, 0.057967, 0.058966, 0.059964, 0.060962, 0.061960, 0.062958, 0.063956, 0.064954, 0.065952, 0.066950, 0.067948, 0.068945, 0.069943, 0.070940, 0.071938, 0.072935, 0.073932, 0.074930, 0.075927, 0.076924, 0.077921, 0.078918, 0.079915, 0.080911, 0.081908, 0.082905, 0.083901, 0.084898, 0.085894, 0.086890, 0.087886, 0.088883, 0.089879, 0.090874, 0.091870, 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| Coconara | 0:6ca63d45f0ee | 6 | |
| Coconara | 0:6ca63d45f0ee | 7 | float cos_precalc(int angle) |
| Coconara | 0:6ca63d45f0ee | 8 | { |
| Coconara | 0:6ca63d45f0ee | 9 | if (0<=angle && angle<=3142) |
| Coconara | 0:6ca63d45f0ee | 10 | return t_cos_precalc[angle]; |
| Coconara | 0:6ca63d45f0ee | 11 | if (0>angle && angle>=-3142) |
| Coconara | 0:6ca63d45f0ee | 12 | return t_cos_precalc[-angle]; |
| Coconara | 0:6ca63d45f0ee | 13 | return 2; //retour d'une valeur abérante pour s'en appercevoir si erreur |
| Coconara | 0:6ca63d45f0ee | 14 | } |
| Coconara | 0:6ca63d45f0ee | 15 | |
| Coconara | 0:6ca63d45f0ee | 16 | float sin_precalc(int angle) |
| Coconara | 0:6ca63d45f0ee | 17 | { |
| Coconara | 0:6ca63d45f0ee | 18 | if (0<=angle && angle<=3142) |
| Coconara | 0:6ca63d45f0ee | 19 | return t_sin_precalc[angle]; |
| Coconara | 0:6ca63d45f0ee | 20 | if (0>angle && angle>=-3142) |
| Coconara | 0:6ca63d45f0ee | 21 | return -t_sin_precalc[-angle]; |
| Coconara | 0:6ca63d45f0ee | 22 | return 2; //retour d'une valeur abérante pour s'en appercevoir si erreur |
| Coconara | 0:6ca63d45f0ee | 23 | } |
| Coconara | 0:6ca63d45f0ee | 24 | |
| Coconara | 0:6ca63d45f0ee | 25 | double racine(long int a) |
| Coconara | 0:6ca63d45f0ee | 26 | { |
| Coconara | 0:6ca63d45f0ee | 27 | return pow((float) a, 0.5); // contrairement a sqrt, pow fonctionne |
| Coconara | 0:6ca63d45f0ee | 28 | } |
| Coconara | 0:6ca63d45f0ee | 29 | |
| Coconara | 0:6ca63d45f0ee | 30 | double pow(long int a, long int b) |
| Coconara | 1:0690cf83f060 | 31 | { |
| Coconara | 0:6ca63d45f0ee | 32 | return pow((double) a, (double) b); |
| Coconara | 1:0690cf83f060 | 33 | } |
| Coconara | 1:0690cf83f060 | 34 | |
| Coconara | 1:0690cf83f060 | 35 | double abs(double a) |
| Coconara | 1:0690cf83f060 | 36 | { |
| Coconara | 1:0690cf83f060 | 37 | if (a<0) {return -a;} |
| Coconara | 1:0690cf83f060 | 38 | return a; |
| Coconara | 1:0690cf83f060 | 39 | } |
| Coconara | 1:0690cf83f060 | 40 | |
| Coconara | 1:0690cf83f060 | 41 | double diff_angle(double angle1, double angle2) |
| Coconara | 1:0690cf83f060 | 42 | { |
| Coconara | 1:0690cf83f060 | 43 | // en degré |
| Coconara | 1:0690cf83f060 | 44 | if (abs(angle2 - angle1) <= 180) |
| Coconara | 1:0690cf83f060 | 45 | { |
| Coconara | 1:0690cf83f060 | 46 | return angle2-angle1; |
| Coconara | 1:0690cf83f060 | 47 | } |
| Coconara | 1:0690cf83f060 | 48 | else if (angle2-angle1>0) |
| Coconara | 1:0690cf83f060 | 49 | { |
| Coconara | 1:0690cf83f060 | 50 | return (angle2-angle1)-360; |
| Coconara | 1:0690cf83f060 | 51 | } |
| Coconara | 1:0690cf83f060 | 52 | else |
| Coconara | 1:0690cf83f060 | 53 | { |
| Coconara | 1:0690cf83f060 | 54 | return 360+(angle2-angle1); |
| Coconara | 1:0690cf83f060 | 55 | } |
| Coconara | 1:0690cf83f060 | 56 | } |
| Coconara | 1:0690cf83f060 | 57 | |
| Coconara | 1:0690cf83f060 | 58 | double borne_angle_r(double angle) |
| Coconara | 1:0690cf83f060 | 59 | { |
| Coconara | 1:0690cf83f060 | 60 | if (angle > PI) { |
| Coconara | 1:0690cf83f060 | 61 | angle -= 2*PI; |
| Coconara | 1:0690cf83f060 | 62 | } |
| Coconara | 1:0690cf83f060 | 63 | else if (angle <= -PI) { |
| Coconara | 1:0690cf83f060 | 64 | angle += 2*PI; |
| Coconara | 1:0690cf83f060 | 65 | } |
| Coconara | 1:0690cf83f060 | 66 | return angle; |
| Coconara | 1:0690cf83f060 | 67 | } |
| Coconara | 1:0690cf83f060 | 68 | |
| Coconara | 1:0690cf83f060 | 69 | double borne_angle_d(double angle) |
| Coconara | 1:0690cf83f060 | 70 | { |
| Coconara | 1:0690cf83f060 | 71 | if (angle > 180) { |
| Coconara | 1:0690cf83f060 | 72 | angle -= 2*180; |
| Coconara | 1:0690cf83f060 | 73 | } |
| Coconara | 1:0690cf83f060 | 74 | else if (angle <= -180) { |
| Coconara | 1:0690cf83f060 | 75 | angle += 2*180; |
| Coconara | 1:0690cf83f060 | 76 | } |
| Coconara | 1:0690cf83f060 | 77 | return angle; |
| Coconara | 1:0690cf83f060 | 78 | } |
| Coconara | 1:0690cf83f060 | 79 | |
| GuillaumeCH | 2:5764f89a27f6 | 80 | int signe(float entier){ |
| GuillaumeCH | 2:5764f89a27f6 | 81 | if(entier >=0){ |
| GuillaumeCH | 2:5764f89a27f6 | 82 | return 1; |
| GuillaumeCH | 2:5764f89a27f6 | 83 | } |
| GuillaumeCH | 2:5764f89a27f6 | 84 | if(entier <0){ |
| GuillaumeCH | 2:5764f89a27f6 | 85 | return -1; |
| GuillaumeCH | 2:5764f89a27f6 | 86 | } |
| GuillaumeCH | 2:5764f89a27f6 | 87 | return 0; |
| GuillaumeCH | 2:5764f89a27f6 | 88 | } |
| GuillaumeCH | 2:5764f89a27f6 | 89 | float min(float f1, float f2){ |
| GuillaumeCH | 2:5764f89a27f6 | 90 | if (f1-f2>0){ |
| GuillaumeCH | 2:5764f89a27f6 | 91 | return f2; |
| GuillaumeCH | 2:5764f89a27f6 | 92 | } |
| GuillaumeCH | 2:5764f89a27f6 | 93 | else{ |
| GuillaumeCH | 2:5764f89a27f6 | 94 | return f1; |
| GuillaumeCH | 2:5764f89a27f6 | 95 | } |
| GuillaumeCH | 2:5764f89a27f6 | 96 | } |