Motor control for robots. More compact, less object-oriented revision.
Dependencies: FastPWM3 mbed-dev-f303
Fork of Hobbyking_Cheetah_V1 by
FastMath.cpp
00001 #include "FastMath.h" 00002 #include "LUT.h" 00003 00004 const float Multiplier = 81.4873308631f; 00005 00006 float FastMath::FastSin(float theta){ 00007 while (theta < 0.0f) theta += 6.28318530718f; 00008 while (theta >= 6.28318530718f) theta -= 6.28318530718f; 00009 return SinTable[(int) (Multiplier*theta)] ; 00010 } 00011 00012 float FastMath::FastCos(float theta){ 00013 return FastSin(1.57079632679f - theta); 00014 }
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