Ben Katz / HKC_MiniCheetah

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: math_ops.cpp

Revision:
26:2b865c00d7e9
Parent:
25:f5741040c4bb
Child:
34:51647c6c500d
diff -r f5741040c4bb -r 2b865c00d7e9 math_ops.cpp
--- a/math_ops.cpp	Sun Apr 09 03:05:52 2017 +0000
+++ b/math_ops.cpp	Mon May 01 15:22:58 2017 +0000
@@ -30,3 +30,15 @@
         *y = *y * limit/norm;
         }
     }
+
+int float_to_uint(float x, float x_min, float x_max, int bits){
+    float span = x_max - x_min;
+    float offset = x_min;
+    return (int) ((x+offset)*((float)((1<<bits)-1))/span);
+    }
+    
+float uint_to_float(int x_int, float x_min, float x_max, int bits){
+    float span = x_max - x_min;
+    float offset = x_min;
+    return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
+    }