Ben Katz
FOC Implementation for putting multirotor motors in robots
FastMath/FastMath.cpp@0:4e1c4df6aabd, 2016-02-05 (annotated)
- Committer:
- benkatz
- Date:
- Fri Feb 05 00:52:53 2016 +0000
- Revision:
- 0:4e1c4df6aabd
It works!
Who changed what in which revision?
| User | Revision | Line number | New 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 | 0:4e1c4df6aabd | 7 | if (theta < 0.0f) theta += 6.28318530718f; |
| benkatz | 0:4e1c4df6aabd | 8 | if (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 | } |