N K / Mbed 2 deprecated GaNtroller

a fork of priustroller

Dependencies:   mbed

Fork of priustroller_current by N K

util/transforms.cpp@11:dccbaa9274c5, 2015-03-08 (annotated)

Committer:
bwang
Date:
Sun Mar 08 08:37:38 2015 +0000
Revision:
11:dccbaa9274c5
Child:
14:1cc975207995
--Initial Commit: 03-08-2015 new context-based code; no more timers (=easier debugging)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "transforms.h"
bwang 11:dccbaa9274c5 3 #include "fastmath.h"
bwang 11:dccbaa9274c5 4
bwang 11:dccbaa9274c5 5 void Transforms::Clarke(float a, float b, float *alpha, float *beta) {
bwang 11:dccbaa9274c5 6 *alpha = a;
bwang 11:dccbaa9274c5 7 *beta = (a + 2.0f * b)/sqrt(3.0f);
bwang 11:dccbaa9274c5 8 }
bwang 11:dccbaa9274c5 9
bwang 11:dccbaa9274c5 10 void Transforms::Parke(float alpha, float beta, float theta, float *d, float *q) {
bwang 11:dccbaa9274c5 11 float cos = FastCos(theta);
bwang 11:dccbaa9274c5 12 float sin = FastSin(theta);
bwang 11:dccbaa9274c5 13 *d = alpha * cos + beta * sin;
bwang 11:dccbaa9274c5 14 *q = -alpha * sin + beta * cos;
bwang 11:dccbaa9274c5 15 }
bwang 11:dccbaa9274c5 16
bwang 11:dccbaa9274c5 17 void Transforms::InverseParke(float d, float q, float theta, float *alpha, float *beta) {
bwang 11:dccbaa9274c5 18 float cos = FastCos(theta);
bwang 11:dccbaa9274c5 19 float sin = FastSin(theta);
bwang 11:dccbaa9274c5 20 *alpha = cos * d - sin * q;
bwang 11:dccbaa9274c5 21 *beta = sin * d + cos * q;
bwang 11:dccbaa9274c5 22 }