hongwei liu / HKC_MiniCheetah

my test code 2

Dependencies:   mbed-dev-f303 FastPWM3

FastMath/FastMath.cpp

Committer:
monkey61
Date:
2021-09-24
Revision:
59:b41cbfa3b30e
Parent:
20:bf9ea5125d52

File content as of revision 59:b41cbfa3b30e:

#include "FastMath.h"
#include "LUT.h"

const float Multiplier = 81.4873308631f;

float FastMath::FastSin(float theta){
    while (theta < 0.0f) theta += 6.28318530718f;
    while (theta >= 6.28318530718f) theta -= 6.28318530718f;    
    return SinTable[(int) (Multiplier*theta)] ;
    }
    
float FastMath::FastCos(float theta){
    return FastSin(1.57079632679f - theta);
    }