Fork of the Ben Katz's motor controller firmware.
math_ops.cpp@60:8399756e1ba1, 2021-01-22 (annotated)
- Committer:
- MartinGurtner
- Date:
- Fri Jan 22 13:10:37 2021 +0000
- Revision:
- 60:8399756e1ba1
- Parent:
- 59:8fb0145aa933
.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 20:bf9ea5125d52 | 1 | |
benkatz | 47:e1196a851f76 | 2 | #include "../math_ops.h" |
benkatz | 20:bf9ea5125d52 | 3 | |
benkatz | 20:bf9ea5125d52 | 4 | |
benkatz | 20:bf9ea5125d52 | 5 | float fmaxf(float x, float y){ |
benkatz | 25:f5741040c4bb | 6 | /// Returns maximum of x, y /// |
benkatz | 20:bf9ea5125d52 | 7 | return (((x)>(y))?(x):(y)); |
benkatz | 20:bf9ea5125d52 | 8 | } |
benkatz | 20:bf9ea5125d52 | 9 | |
benkatz | 20:bf9ea5125d52 | 10 | float fminf(float x, float y){ |
benkatz | 25:f5741040c4bb | 11 | /// Returns minimum of x, y /// |
benkatz | 20:bf9ea5125d52 | 12 | return (((x)<(y))?(x):(y)); |
benkatz | 20:bf9ea5125d52 | 13 | } |
benkatz | 20:bf9ea5125d52 | 14 | |
benkatz | 20:bf9ea5125d52 | 15 | float fmaxf3(float x, float y, float z){ |
benkatz | 25:f5741040c4bb | 16 | /// Returns maximum of x, y, z /// |
benkatz | 20:bf9ea5125d52 | 17 | return (x > y ? (x > z ? x : z) : (y > z ? y : z)); |
benkatz | 20:bf9ea5125d52 | 18 | } |
benkatz | 20:bf9ea5125d52 | 19 | |
benkatz | 20:bf9ea5125d52 | 20 | float fminf3(float x, float y, float z){ |
benkatz | 25:f5741040c4bb | 21 | /// Returns minimum of x, y, z /// |
benkatz | 20:bf9ea5125d52 | 22 | return (x < y ? (x < z ? x : z) : (y < z ? y : z)); |
benkatz | 20:bf9ea5125d52 | 23 | } |
benkatz | 34:51647c6c500d | 24 | |
benkatz | 34:51647c6c500d | 25 | float roundf(float x){ |
benkatz | 34:51647c6c500d | 26 | /// Returns nearest integer /// |
benkatz | 34:51647c6c500d | 27 | |
benkatz | 34:51647c6c500d | 28 | return x < 0.0f ? ceilf(x - 0.5f) : floorf(x + 0.5f); |
benkatz | 34:51647c6c500d | 29 | } |
benkatz | 20:bf9ea5125d52 | 30 | |
benkatz | 20:bf9ea5125d52 | 31 | void limit_norm(float *x, float *y, float limit){ |
benkatz | 25:f5741040c4bb | 32 | /// Scales the lenght of vector (x, y) to be <= limit /// |
benkatz | 20:bf9ea5125d52 | 33 | float norm = sqrt(*x * *x + *y * *y); |
benkatz | 20:bf9ea5125d52 | 34 | if(norm > limit){ |
benkatz | 20:bf9ea5125d52 | 35 | *x = *x * limit/norm; |
benkatz | 20:bf9ea5125d52 | 36 | *y = *y * limit/norm; |
benkatz | 20:bf9ea5125d52 | 37 | } |
benkatz | 20:bf9ea5125d52 | 38 | } |
benkatz | 47:e1196a851f76 | 39 | |
benkatz | 47:e1196a851f76 | 40 | void limit(float *x, float min, float max){ |
benkatz | 47:e1196a851f76 | 41 | *x = fmaxf(fminf(*x, max), min); |
MartinGurtner | 59:8fb0145aa933 | 42 | } |