This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: supportfuncs.h
- Revision:
- 62:78d99b781f02
- Parent:
- 20:70d651156779
diff -r a7782a35ce4f -r 78d99b781f02 supportfuncs.h --- a/supportfuncs.h Sun Apr 14 10:49:51 2013 +0000 +++ b/supportfuncs.h Sun Apr 14 12:57:04 2013 +0000 @@ -5,6 +5,10 @@ #include "globals.h" #include "tvmet/Matrix.h" +template <typename T> int sgn(T val) { + return (T(0) < val) - (val < T(0)); +} + //Constrains agles to +/- pi inline float constrainAngle(float x){ x = fmod(x + PI, 2*PI);