Diff: Transforms/Transforms.cpp

Revision:

20:bf9ea5125d52

Parent:

19:bd10a04eedc2

Child:

21:7d1f0a206668

--- a/Transforms/Transforms.cpp	Tue Feb 14 03:28:16 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,39 +0,0 @@
-#include "mbed.h"
-#include "Transforms.h"
-#include "FastMath.h"
-
-using namespace FastMath;
-
-void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){
-    //float cosine = cos(theta);
-    //float sine = sin(theta);
-    float cosine = FastCos(theta);
-    float sine = FastSin(theta);
-    //*d = alpha*cosine - beta*sine;      //This is a hack - effectively using -beta instead of beta
-    //*q = -beta*cosine - alpha*sine;     //I think because I'm using pi as the d axis offset instead of zero, but I need to investigate more.
-    *d = alpha*cosine + beta*sine;
-    *q = beta*cosine - alpha*sine;
-    //DAC->DHR12R1 = (int) (*q*49.648f) + 2048;
-    //DAC->DHR12R1 = (int) (*q*2048.0f) + 2048;
-    }
-
-void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){
-    //float cosine = cos(theta);
-    //float sine = sin(theta);
-    float cosine = FastCos(theta);
-    float sine = FastSin(theta);
-    *alpha = d*cosine - q*sine;
-    *beta = q*cosine + d*sine;
-    }
-
-void Transforms::Clarke(float a, float b, float *alpha, float *beta){
-    *alpha = a;
-    *beta = 0.57735026919f*(a + 2.0f*b);
-    }
-
-void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){
-    *a = alpha;
-    *b = 0.5f*(-alpha + 1.73205080757f*beta);
-    *c = 0.5f*(-alpha - 1.73205080757f*beta);
-    } 
-