Ben Katz / Hobbyking_Cheetah

DRV8323RS Version Gimbal Motor Tuning

Dependencies:   mbed-dev-f303 FastPWM3

Dependents:   GT_MOTOR_24NM_V03 GT_MOTOR_24NM_V03_PT1000CalTemp

FastMath/FastMath.cpp@54:59575833d16f, 2019-08-08 (annotated)

Committer:
benkatz
Date:
Thu Aug 08 17:39:43 2019 +0000
Revision:
54:59575833d16f
Parent:
20:bf9ea5125d52 
updated position for +/- 15 turns

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);
benkatz 0:4e1c4df6aabd 14 }