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

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

math_ops.cpp

Committer:
benkatz
Date:
2018-07-30
Revision:
46:6cc428f3431d
Parent:
45:aadebe074af6

File content as of revision 46:6cc428f3431d:


#include "math_ops.h"

float fmaxf(float x, float y){
    /// Returns maximum of x, y ///
    return (((x)>(y))?(x):(y));
    }

float fminf(float x, float y){
    /// Returns minimum of x, y ///
    return (((x)<(y))?(x):(y));
    }

float fmaxf3(float x, float y, float z){
    /// Returns maximum of x, y, z ///
    return (x > y ? (x > z ? x : z) : (y > z ? y : z));
    }

float fminf3(float x, float y, float z){
    /// Returns minimum of x, y, z ///
    return (x < y ? (x < z ? x : z) : (y < z ? y : z));
    }

float roundf(float x){
    /// Returns nearest integer ///
    
    return x < 0.0f ? ceilf(x - 0.5f) : floorf(x + 0.5f);
    }
    
void limit_norm(float *x, float *y, float limit){
    /// Scales the lenght of vector (x, y) to be <= limit ///
    float norm = sqrt(*x * *x + *y * *y);
    if(norm > limit){
        *x = *x * limit/norm;
        *y = *y * limit/norm;
        }
    }


int float_to_uint(float x, float x_min, float x_max, uint8_t 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);
    }
    
    
float uint_to_float(int x_int, float x_min, float x_max, uint8_t 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;
    }