Ben Katz / Hobbyking_Cheetah_Compact_DRV8323

DRV8323RS Version

Dependencies:   mbed-dev-f303 FastPWM3

math_ops.cpp@20:bf9ea5125d52, 2017-03-02 (annotated)

Committer:
benkatz
Date:
Thu Mar 02 15:31:23 2017 +0000
Revision:
20:bf9ea5125d52
Child:
25:f5741040c4bb
Compact version works.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1
benkatz 20:bf9ea5125d52 2 #include "math_ops.h"
benkatz 20:bf9ea5125d52 3
benkatz 20:bf9ea5125d52 4
benkatz 20:bf9ea5125d52 5 float fmaxf(float x, float y){
benkatz 20:bf9ea5125d52 6 return (((x)>(y))?(x):(y));
benkatz 20:bf9ea5125d52 7 }
benkatz 20:bf9ea5125d52 8
benkatz 20:bf9ea5125d52 9 float fminf(float x, float y){
benkatz 20:bf9ea5125d52 10 return (((x)<(y))?(x):(y));
benkatz 20:bf9ea5125d52 11 }
benkatz 20:bf9ea5125d52 12
benkatz 20:bf9ea5125d52 13 float fmaxf3(float x, float y, float z){
benkatz 20:bf9ea5125d52 14 return (x > y ? (x > z ? x : z) : (y > z ? y : z));
benkatz 20:bf9ea5125d52 15 }
benkatz 20:bf9ea5125d52 16
benkatz 20:bf9ea5125d52 17 float fminf3(float x, float y, float z){
benkatz 20:bf9ea5125d52 18 return (x < y ? (x < z ? x : z) : (y < z ? y : z));
benkatz 20:bf9ea5125d52 19 }
benkatz 20:bf9ea5125d52 20
benkatz 20:bf9ea5125d52 21 void limit_norm(float *x, float *y, float limit){
benkatz 20:bf9ea5125d52 22 float norm = sqrt(*x * *x + *y * *y);
benkatz 20:bf9ea5125d52 23 if(norm > limit){
benkatz 20:bf9ea5125d52 24 *x = *x * limit/norm;
benkatz 20:bf9ea5125d52 25 *y = *y * limit/norm;
benkatz 20:bf9ea5125d52 26 }
benkatz 20:bf9ea5125d52 27 }