Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

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Show/hide line numbers SyncGroup.cpp Source File

SyncGroup.cpp

00001 #include "SyncGroup.hpp"
00002 #include "Math.hpp"
00003 
00004 float SyncGroup::update(EncoderMotor *motor, float factor)
00005 {
00006     factors[motor] = factor;
00007     return getMinimum(motor);
00008 }
00009 
00010 float SyncGroup::getMinimum(EncoderMotor *exclude)
00011 {
00012     float factor = 1.f;
00013     for (std::map<EncoderMotor*, float>::iterator it = factors.begin(); it != factors.end(); ++it)
00014     {
00015         if (it->first != exclude)
00016             factor = ::min(factor, it->second);
00017     }
00018     return factor;
00019 }
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