hobbyking_cheetah source code modified 2020/12/15
Dependencies: mbed-dev-f303 FastPWM3
Diff: math_ops.cpp
- Revision:
- 47:e1196a851f76
- Parent:
- 34:51647c6c500d
--- a/math_ops.cpp Thu Jul 12 02:50:34 2018 +0000 +++ b/math_ops.cpp Wed Dec 05 04:07:46 2018 +0000 @@ -1,5 +1,5 @@ -#include "math_ops.h" +#include "../math_ops.h" float fmaxf(float x, float y){ @@ -36,14 +36,21 @@ *y = *y * limit/norm; } } + +void limit(float *x, float min, float max){ + *x = fmaxf(fminf(*x, max), min); + } int float_to_uint(float x, float x_min, float x_max, int bits){ + /// Converts a float to an unsigned int, given range and number of bits /// float span = x_max - x_min; float offset = x_min; - return (int) ((x+offset)*((float)((1<<bits)-1))/span); + return (int) ((x-offset)*((float)((1<<bits)-1))/span); } + float uint_to_float(int x_int, float x_min, float x_max, int bits){ + /// converts unsigned int to float, given range and number of bits /// float span = x_max - x_min; float offset = x_min; return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;