Jared DiCarlo
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foc-ed_in_the_bot_compact
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Transforms.cpp
00001 #include "mbed.h" 00002 #include "Transforms.h" 00003 00004 void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){ 00005 float cosine = cos(theta); 00006 float sine = sin(theta); 00007 *d = alpha * cosine - beta * sine; 00008 *q = -beta * cosine - alpha * sine; 00009 } 00010 00011 void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){ 00012 float cosine = cos(theta); 00013 float sine = sin(theta); 00014 *alpha = d * cosine - q * sine; 00015 *beta = q * cosine + d * sine; 00016 } 00017 00018 void Transforms::Clarke(float a, float b, float *alpha, float *beta){ 00019 *alpha = a; 00020 *beta = sqrtf(3.0f) / 3.0f * (a + 2.0f * b); 00021 } 00022 00023 void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){ 00024 *a = alpha; 00025 *b = 0.5f * (-alpha + sqrtf(3.0f) * beta); 00026 *c = 0.5f * (-alpha - sqrtf(3.0f) * beta); 00027 } 00028
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