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
Diff: util.cpp
- Revision:
- 2:fbc6e3cf3ed8
- Parent:
- 0:a6a169de725f
- Child:
- 3:42f3821c4e54
diff -r cb84b477886c -r fbc6e3cf3ed8 util.cpp --- a/util.cpp Tue May 28 13:58:35 2013 +0000 +++ b/util.cpp Thu Jun 06 13:40:23 2013 +0000 @@ -1,3 +1,14 @@ +/** + * 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) +{ + float mod = (max - min); + if (v >= max) float -= mod; + if (v < min) float += mod; +} + // convert character to an int // int ctoi(char c)