Ben Katz / Hobbyking_Cheetah_Compact

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

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

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Show/hide line numbers FastMath.cpp Source File

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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