Gu Jasper / Motor_200Nm_V0

1

Dependencies:   mbed-dev-f303 FastPWM3

FastMath/FastMath.cpp@56:d34e4540ec12, 2020-08-14 (annotated)

Committer:
Jasper_gu
Date:
Fri Aug 14 07:22:11 2020 +0000
Revision:
56:d34e4540ec12
Parent:
51:b0a3ef66ea3d 
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Who changed what in which revision?

UserRevisionLine numberNew 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);
Rushu 51:b0a3ef66ea3d 14 }
Rushu 51:b0a3ef66ea3d 15 //========HJB added=====//
Rushu 51:b0a3ef66ea3d 16 int FastMath::Sgn(float d){
Rushu 51:b0a3ef66ea3d 17 if(d<0) return -1;
Rushu 51:b0a3ef66ea3d 18 else if (d==0) return 0;
Rushu 51:b0a3ef66ea3d 19 else return 1;
benkatz 0:4e1c4df6aabd 20 }