Ben Katz / Hobbyking_Cheetah_Compact

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

Dependencies:   FastPWM3 mbed

Fork of Hobbyking_Cheetah_V1 by Ben Katz

math_ops.cpp

Committer:
benkatz
Date:
7 weeks ago
Revision:
23:2adf23ee0305
Child:
25:f5741040c4bb

File content as of revision 23:2adf23ee0305:


#include "math_ops.h"


float fmaxf(float x, float y){
    return (((x)>(y))?(x):(y));
    }

float fminf(float x, float y){
    return (((x)<(y))?(x):(y));
    }

float fmaxf3(float x, float y, float z){
    return (x > y ? (x > z ? x : z) : (y > z ? y : z));
    }

float fminf3(float x, float y, float z){
    return (x < y ? (x < z ? x : z) : (y < z ? y : z));
    }
    
void limit_norm(float *x, float *y, float limit){
    float norm = sqrt(*x * *x + *y * *y);
    if(norm > limit){
        *x = *x * limit/norm;
        *y = *y * limit/norm;
        }
    }