yezhong yezhong / Mbed 2 deprecated Joint_control_AS5147_DRV8323RH_200nm_PID

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Dependencies:   mbed FastPWM3

math_ops.cpp

Committer:
benkatz
Date:
2017-04-09
Revision:
25:f5741040c4bb
Parent:
20:bf9ea5125d52
Child:
26:2b865c00d7e9

File content as of revision 25:f5741040c4bb:


#include "math_ops.h"


float fmaxf(float x, float y){
    /// Returns maximum of x, y ///
    return (((x)>(y))?(x):(y));
    }

float fminf(float x, float y){
    /// Returns minimum of x, y ///
    return (((x)<(y))?(x):(y));
    }

float fmaxf3(float x, float y, float z){
    /// Returns maximum of x, y, z ///
    return (x > y ? (x > z ? x : z) : (y > z ? y : z));
    }

float fminf3(float x, float y, float z){
    /// Returns minimum of x, y, z ///
    return (x < y ? (x < z ? x : z) : (y < z ? y : z));
    }
    
void limit_norm(float *x, float *y, float limit){
    /// Scales the lenght of vector (x, y) to be <= limit ///
    float norm = sqrt(*x * *x + *y * *y);
    if(norm > limit){
        *x = *x * limit/norm;
        *y = *y * limit/norm;
        }
    }