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

Committer:
madcowswe
Date:
2013-04-07
Revision:
19:4b993a9a156e
Parent:
16:52250d8d8fce
Child:
20:70d651156779

File content as of revision 19:4b993a9a156e:

#ifndef SUPPORTFUNCS_H
#define SUPPORTFUNCS_H

#include <cmath>
#include "globals.h"


//Constrains agles to +/- pi
inline float constrainAngle(float x){
    x = fmod(x + PI, 2*PI);
    if (x < 0)
        x += 2*PI;
    return x - PI;
}

#endif //SUPPORTFUNCS_H