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@90:e4164bb8c60e, 2013-04-17 (annotated)

Committer:
madcowswe
Date:
Wed Apr 17 23:16:25 2013 +0000
Revision:
90:e4164bb8c60e
Parent:
62:78d99b781f02 
final state at end of competition. Includes avoid wooden team hack

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 20:70d651156779 6 #include "tvmet/Matrix.h"
madcowswe 16:52250d8d8fce 7
madcowswe 62:78d99b781f02 8 template <typename T> int sgn(T val) {
madcowswe 62:78d99b781f02 9 return (T(0) < val) - (val < T(0));
madcowswe 62:78d99b781f02 10 }
madcowswe 62:78d99b781f02 11
madcowswe 16:52250d8d8fce 12 //Constrains agles to +/- pi
madcowswe 16:52250d8d8fce 13 inline float constrainAngle(float x){
madcowswe 19:4b993a9a156e 14 x = fmod(x + PI, 2*PI);
madcowswe 16:52250d8d8fce 15 if (x < 0)
madcowswe 19:4b993a9a156e 16 x += 2*PI;
madcowswe 19:4b993a9a156e 17 return x - PI;
madcowswe 16:52250d8d8fce 18 }
madcowswe 16:52250d8d8fce 19
madcowswe 20:70d651156779 20 template <typename T>
madcowswe 20:70d651156779 21 tvmet::Matrix <T, 2, 2> Rotmatrix(T theta) {
madcowswe 20:70d651156779 22 tvmet::Matrix <T, 2, 2> outmatrix;
madcowswe 20:70d651156779 23 outmatrix = cos(theta), -sin(theta),
madcowswe 20:70d651156779 24 sin(theta), cos(theta);
madcowswe 20:70d651156779 25 return outmatrix;
madcowswe 20:70d651156779 26 }
madcowswe 20:70d651156779 27
madcowswe 16:52250d8d8fce 28 #endif //SUPPORTFUNCS_H