Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Committer:
benkatz
Date:
Mon May 01 15:22:58 2017 +0000
Revision:
26:2b865c00d7e9
Parent:
20:bf9ea5125d52
- Added CAN Send/Receive; - Updated to most recent MBED (Broke SPI 16-bit read/write.  Hacked to work with 2 8-bit writes now); - Removed most sine/cos calculations; - Fixed sign error in autocalibration routine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz20:bf9ea5125d52 1#ifndef MATH_OPS_H
benkatz20:bf9ea5125d52 2#define MATH_OPS_H
benkatz20:bf9ea5125d52 3
benkatz20:bf9ea5125d52 4#define PI 3.14159265359f
benkatz20:bf9ea5125d52 5
benkatz20:bf9ea5125d52 6#include "math.h"
benkatz20:bf9ea5125d52 7
benkatz20:bf9ea5125d52 8float fmaxf(float x, float y);
benkatz20:bf9ea5125d52 9float fminf(float x, float y);
benkatz20:bf9ea5125d52 10float fmaxf3(float x, float y, float z);
benkatz20:bf9ea5125d52 11float fminf3(float x, float y, float z);
benkatz20:bf9ea5125d52 12void limit_norm(float *x, float *y, float limit);
benkatz26:2b865c00d7e9 13int float_to_uint(float x, float x_min, float x_max, int bits);
benkatz26:2b865c00d7e9 14float uint_to_float(int x_int, float x_min, float x_max, int bits);
benkatz20:bf9ea5125d52 15
benkatz20:bf9ea5125d52 16#endif