File content as of revision 0:c0f3e14f1ed1:

#include "omuni.h"


        int8_t omuni::map(int8_t in, int8_t inMin, int8_t inMax, int8_t outMin, int8_t outMax) {
            // check it's within the range
            if (inMin<inMax) {
                if (in <= inMin)
                    return outMin;
                if (in >= inMax)
                    return outMax;
            } else { // cope with input range being backwards.
                if (in >= inMin)
                    return outMin;
                if (in <= inMax)
                    return outMax;
            }
            // calculate how far into the range we are
            float scale = float(in-inMin)/float(inMax-inMin);
            // calculate the output.
            return int8_t(outMin + scale*float(outMax-outMin));
        }
        
        
        omuni::omuni(I2C* i2c_,int8_t addr1,int8_t addr2,int8_t addr3)
        :i2c(i2c_),m1(i2c_,addr1),m2(i2c_,addr2),m3(i2c_,addr3)
        {
            RXData[0] = 'H';
            RXData[1] =  0 ;
            RXData[2] =  0 ;
            RXData[3] =  0 ;
            RXData[4] =  0 ;
        }
        void omuni::out(char rxdata[dataNum],float L)
        {
             signed char x1 = map(rxdata[1],-90,90,-100,100);
             signed char y1 = map(rxdata[2],-90,90,-100,100);
             signed char x2 = map(rxdata[3],-90,90,-100,100);
             signed char y2 = map(rxdata[4],-90,90,-100,100);
             float r1 = pow(x1*x1+y1*y1,0.5)/100;
             float r2 = pow(x2*x2+y2*y2,0.5)/100;
             float sieta1 = atan2(double(x1),double(y1));
             float sieta2 = atan2(double(x2),double(y2));
             if(r2 < 0.1F)r2 = 0;
             float alpha = PI/2;
             float x_2 = cos(sieta2);
             float y_2 = sin(sieta2);
             float w = 0;
             if(r1 > 0.1F){
                 if(sieta1 > PI/3 && sieta1 < PI*2/3.0)
                        w = PI/4;
                 if((sieta1 < -PI/3 && sieta1 > -2*PI/3.0))
                        w = -PI/4;
            }
            float s1 = r2*float(sin(alpha)*-x2*0.01) + float(L*w);
            float s2 = r2*float(sin(alpha+4.0/3*PI)*-x2 - cos(alpha+4.0/3*PI)*y2)*0.01 + float(L*w);
            float s3 = r2*float(sin(alpha+2.0/3*PI)*-x2 - cos(alpha+2.0/3*PI)*y2)*0.01 + float(L*w);
             m1 = s1;
             m2 = s2;
             m3 = s3;
            //printf("%5.2f : %5.2f : %5.2f : %5.2f",(float)x2,(float)y2,sieta1*180/PI,r1);
            //printf("\n");
        }