Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
util.cpp
- Committer:
- shimniok
- Date:
- 2013-06-07
- Revision:
- 3:42f3821c4e54
- Parent:
- 2:fbc6e3cf3ed8
- Child:
- 18:c2f3df4ef5fe
File content as of revision 3:42f3821c4e54:
#include <math.h> /** * Clamp a value (angle) between min (non-inclusive) and max (inclusive) * e.g. clamp(v, 0, 360) or clamp(v, -180, 180) */ float clamp(float v, float min, float max, bool flip) { float i; float f; float mod = (max - min); f = modff((v/mod), &i) * mod; if (flip) { if (f > max) f -= mod; if (f <= min) f += mod; } else { if (f < min) f += mod; if (f >= max) f -= mod; } return f; } // convert character to an int // int ctoi(char c) { int i=-1; if (c >= '0' && c <= '9') { i = c - '0'; } //printf("char: %c int %d\n", c, i); return i; } // convert string to floating point // double cvstof(char *s) { double f=0.0; double mult = 0.1; bool neg = false; //char dec = 1; // leading spaces while (*s == ' ' || *s == '\t') { s++; if (*s == 0) break; } // What about negative numbers? if (*s == '-') { neg = true; s++; } // before the decimal // while (*s != 0) { if (*s == '.') { s++; break; } f = (f * 10.0) + (double) ctoi(*s); s++; } // after the decimal while (*s != 0 && *s >= '0' && *s <= '9') { f += (double) ctoi(*s) * mult; mult /= 10; s++; } // if we were negative... if (neg) f = -f; return f; } // copy t to s until delimiter is reached // return location of delimiter+1 in t // if s or t null, return null char *split(char *s, char *t, int max, char delim) { int i = 0; if (s == 0 || t == 0) return 0; while (*t != 0 && *t != '\n' && *t != delim && i < max) { *s++ = *t++; i++; } *s = 0; return t+1; }