Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

FastMath/FastMath.cpp

Committer:
benkatz
Date:
2016-10-31
Revision:
14:80ce59119d93
Parent:
0:4e1c4df6aabd

File content as of revision 14:80ce59119d93:

#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);
    }