N K
/
priustroller_2
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
priustroller
by 
Bayley Wang
util/transforms.cpp@27:846c08fb3697, 2015-03-14 (annotated)
- Committer:
- nki
- Date:
- Sat Mar 14 18:51:36 2015 +0000
- Revision:
- 27:846c08fb3697
- Parent:
- 14:1cc975207995
- Child:
- 33:e7b132029bae
NONWORKING: debugging native ADC reading
Who changed what in which revision?
| User | Revision | Line number | New 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 | 14:1cc975207995 | 10 | void Transforms::InverseClarke(float alpha, float beta, float *a, float *b) { |
| bwang | 14:1cc975207995 | 11 | *a = alpha; |
| bwang | 14:1cc975207995 | 12 | *b = -0.5 * alpha + sqrt(3.0f) / 2.0f * beta; |
| bwang | 14:1cc975207995 | 13 | } |
| bwang | 14:1cc975207995 | 14 | |
| nki | 27:846c08fb3697 | 15 | void Transforms::Parke(float beta, float alpha, float theta, float *d, float *q) { |
| nki | 27:846c08fb3697 | 16 | //reversed alpha and beta order to make d and q ~=constant. |
| nki | 27:846c08fb3697 | 17 | //I did this because alpha was found to be sinusoidal and beta was found to be cosinusoidal. the equation has to take the form sin^2 + cos^2, not sin*cos + sin*cos. |
| bwang | 11:dccbaa9274c5 | 18 | float cos = FastCos(theta); |
| bwang | 11:dccbaa9274c5 | 19 | float sin = FastSin(theta); |
| nki | 27:846c08fb3697 | 20 | |
| bwang | 11:dccbaa9274c5 | 21 | *d = alpha * cos + beta * sin; |
| bwang | 11:dccbaa9274c5 | 22 | *q = -alpha * sin + beta * cos; |
| nki | 27:846c08fb3697 | 23 | |
| bwang | 11:dccbaa9274c5 | 24 | } |
| bwang | 11:dccbaa9274c5 | 25 | |
| nki | 27:846c08fb3697 | 26 | void Transforms::InverseParke(float d, float q, float theta, float *alpha, float *beta) { |
| bwang | 11:dccbaa9274c5 | 27 | float cos = FastCos(theta); |
| bwang | 11:dccbaa9274c5 | 28 | float sin = FastSin(theta); |
| nki | 27:846c08fb3697 | 29 | |
| bwang | 11:dccbaa9274c5 | 30 | *alpha = cos * d - sin * q; |
| nki | 27:846c08fb3697 | 31 | *beta = sin * d + cos * q; |
| nki | 27:846c08fb3697 | 32 | |
| bwang | 11:dccbaa9274c5 | 33 | } |