Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

Diff: FastMath/FastMath.cpp

Revision:
0:4e1c4df6aabd
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FastMath/FastMath.cpp	Fri Feb 05 00:52:53 2016 +0000
@@ -0,0 +1,14 @@
+#include "FastMath.h"
+#include "LUT.h"
+
+const float Multiplier = 81.4873308631f;
+
+float FastMath::FastSin(float theta){
+    if (theta < 0.0f) theta += 6.28318530718f;
+    if (theta >= 6.28318530718f) theta -= 6.28318530718f;    
+    return SinTable[(int) (Multiplier*theta)] ;
+    }
+    
+float FastMath::FastCos(float theta){
+    return FastSin(1.57079632679f - theta);
+    }
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