Transforms.cpp

00001 #include "mbed.h"
00002 #include "Transforms.h"
00003 #include "FastMath.h"
00004 
00005 using namespace FastMath;
00006 
00007 void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){
00008     //float cosine = cos(theta);
00009     //float sine = sin(theta);
00010     float cosine = FastCos(theta);
00011     float sine = FastSin(theta);
00012     //*d = alpha*cosine - beta*sine;      //This is a hack - effectively using -beta instead of beta
00013     //*q = -beta*cosine - alpha*sine;     //I think because I'm using pi as the d axis offset instead of zero, but I need to investigate more.
00014     *d = alpha*cosine + beta*sine;
00015     *q = beta*cosine - alpha*sine;
00016     //DAC->DHR12R1 = (int) (*q*49.648f) + 2048;
00017     //DAC->DHR12R1 = (int) (*q*2048.0f) + 2048;
00018     }
00019 
00020 void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){
00021     //float cosine = cos(theta);
00022     //float sine = sin(theta);
00023     float cosine = FastCos(theta);
00024     float sine = FastSin(theta);
00025     *alpha = d*cosine - q*sine;
00026     *beta = q*cosine + d*sine;
00027     }
00028 
00029 void Transforms::Clarke(float a, float b, float *alpha, float *beta){
00030     *alpha = a;
00031     *beta = 0.57735026919f*(a + 2.0f*b);
00032     }
00033 
00034 void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){
00035     *a = alpha;
00036     *b = 0.5f*(-alpha + 1.73205080757f*beta);
00037     *c = 0.5f*(-alpha - 1.73205080757f*beta);
00038     } 
00039