Diff: Transforms/Transforms.cpp

Revision:

0:4e1c4df6aabd

Child:

1:b8bceb4daed5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Transforms/Transforms.cpp	Fri Feb 05 00:52:53 2016 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+#include "Transforms.h"
+#include "FastMath.h"
+
+using namespace FastMath;
+
+void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){
+    float cosine = cos(theta);
+    float sine = sin(theta);
+    //float a = sine;
+    //float b = cosine;
+    *d = alpha*cosine - beta*sine;
+    *q = -beta*cosine - alpha*sine;
+    //DAC->DHR12R1 = (int) (*q*49.648f) + 2048;
+    //DAC->DHR12R1 = (int) (*q*2048.0f) + 2048;
+    }
+
+void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){
+    float cosine = cos(theta);
+    float sine = sin(theta);
+    *alpha = d*cosine - q*sine;
+    *beta = q*cosine + d*sine;
+    }
+
+void Transforms::Clarke(float a, float b, float *alpha, float *beta){
+    *alpha = a;
+    *beta = 0.57735026919f*(a + 2.0f*b);
+    }
+
+void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){
+    *a = alpha;
+    *b = 0.5f*(-alpha + 1.73205080757f*beta);
+    *c = 0.5f*(-alpha - 1.73205080757f*beta);
+    } 
+