Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

supportfuncs.h@19:4b993a9a156e, 2013-04-07 (annotated)

Committer:
madcowswe
Date:
Sun Apr 07 19:26:07 2013 +0000
Revision:
19:4b993a9a156e
Parent:
16:52250d8d8fce
Child:
20:70d651156779
Kalman init almost ready for testing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 16:52250d8d8fce 1 #ifndef SUPPORTFUNCS_H
madcowswe 16:52250d8d8fce 2 #define SUPPORTFUNCS_H
madcowswe 16:52250d8d8fce 3
madcowswe 16:52250d8d8fce 4 #include <cmath>
madcowswe 19:4b993a9a156e 5 #include "globals.h"
madcowswe 19:4b993a9a156e 6
madcowswe 16:52250d8d8fce 7
madcowswe 16:52250d8d8fce 8 //Constrains agles to +/- pi
madcowswe 16:52250d8d8fce 9 inline float constrainAngle(float x){
madcowswe 19:4b993a9a156e 10 x = fmod(x + PI, 2*PI);
madcowswe 16:52250d8d8fce 11 if (x < 0)
madcowswe 19:4b993a9a156e 12 x += 2*PI;
madcowswe 19:4b993a9a156e 13 return x - PI;
madcowswe 16:52250d8d8fce 14 }
madcowswe 16:52250d8d8fce 15
madcowswe 16:52250d8d8fce 16 #endif //SUPPORTFUNCS_H