Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
FastMath/FastMath.cpp
- Committer:
- benkatz
- Date:
- 2019-10-10
- Revision:
- 56:fe5056ac6740
- Parent:
- 20:bf9ea5125d52
File content as of revision 56:fe5056ac6740:
#include "FastMath.h" #include "LUT.h" const float Multiplier = 81.4873308631f; float FastMath::FastSin(float theta){ while (theta < 0.0f) theta += 6.28318530718f; while (theta >= 6.28318530718f) theta -= 6.28318530718f; return SinTable[(int) (Multiplier*theta)] ; } float FastMath::FastCos(float theta){ return FastSin(1.57079632679f - theta); }