Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

Diff: supportfuncs.h

Revision:
19:4b993a9a156e
Parent:
16:52250d8d8fce
Child:
20:70d651156779
--- a/supportfuncs.h	Sun Apr 07 17:51:59 2013 +0000
+++ b/supportfuncs.h	Sun Apr 07 19:26:07 2013 +0000
@@ -1,15 +1,16 @@
 #ifndef SUPPORTFUNCS_H
 #define SUPPORTFUNCS_H
 
-#define _USE_MATH_DEFINES
 #include <cmath>
+#include "globals.h"
+
 
 //Constrains agles to +/- pi
 inline float constrainAngle(float x){
-    x = fmod(x + M_PI, 2*M_PI);
+    x = fmod(x + PI, 2*PI);
     if (x < 0)
-        x += 2*M_PI;
-    return x - M_PI;
+        x += 2*PI;
+    return x - PI;
 }
 
 #endif //SUPPORTFUNCS_H
\ No newline at end of file