Motor control for robots. More compact, less object-oriented revision.

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## math_ops.h@26:2b865c00d7e9, 3 months ago (annotated)

- Committer:
- benkatz
- Date:
- Mon May 01 15:22:58 2017 +0000
- Revision:
- 26:2b865c00d7e9
- Parent:
- 20:bf9ea5125d52

- Added CAN Send/Receive; - Updated to most recent MBED (Broke SPI 16-bit read/write. Hacked to work with 2 8-bit writes now); - Removed most sine/cos calculations; - Fixed sign error in autocalibration routine

### Who changed what in which revision?

User | Revision | Line number | New contents of line |
---|---|---|---|

benkatz | 20:bf9ea5125d52 | 1 | #ifndef MATH_OPS_H |

benkatz | 20:bf9ea5125d52 | 2 | #define MATH_OPS_H |

benkatz | 20:bf9ea5125d52 | 3 | |

benkatz | 20:bf9ea5125d52 | 4 | #define PI 3.14159265359f |

benkatz | 20:bf9ea5125d52 | 5 | |

benkatz | 20:bf9ea5125d52 | 6 | #include "math.h" |

benkatz | 20:bf9ea5125d52 | 7 | |

benkatz | 20:bf9ea5125d52 | 8 | float fmaxf(float x, float y); |

benkatz | 20:bf9ea5125d52 | 9 | float fminf(float x, float y); |

benkatz | 20:bf9ea5125d52 | 10 | float fmaxf3(float x, float y, float z); |

benkatz | 20:bf9ea5125d52 | 11 | float fminf3(float x, float y, float z); |

benkatz | 20:bf9ea5125d52 | 12 | void limit_norm(float *x, float *y, float limit); |

benkatz | 26:2b865c00d7e9 | 13 | int float_to_uint(float x, float x_min, float x_max, int bits); |

benkatz | 26:2b865c00d7e9 | 14 | float uint_to_float(int x_int, float x_min, float x_max, int bits); |

benkatz | 20:bf9ea5125d52 | 15 | |

benkatz | 20:bf9ea5125d52 | 16 | #endif |