Oskar Weigl / Mbed 2 deprecated ICRSEurobot13

This is some awesome robot code

Dependencies:   mbed-rtos mbed QEI

Fork of ICRSEurobot13 by Thomas Branch

Diff: supportfuncs.h

Revision:
16:52250d8d8fce
Child:
19:4b993a9a156e
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/supportfuncs.h	Sun Apr 07 16:50:36 2013 +0000
@@ -0,0 +1,15 @@
+#ifndef SUPPORTFUNCS_H
+#define SUPPORTFUNCS_H
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+
+//Constrains agles to +/- pi
+inline float constrainAngle(float x){
+    x = fmod(x + M_PI, 2*M_PI);
+    if (x < 0)
+        x += 2*M_PI;
+    return x - M_PI;
+}
+
+#endif //SUPPORTFUNCS_H
\ No newline at end of file