Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Transforms/Transforms.cpp

Committer:
bwang
Date:
2016-03-09
Revision:
0:bac9c3a3a6ca

File content as of revision 0:bac9c3a3a6ca:

#include "mbed.h"
#include "Transforms.h"

void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){
    float cosine = cos(theta);
    float sine = sin(theta);
    *d = alpha * cosine - beta * sine;
    *q = -beta * cosine - alpha * sine;
}

void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){
    float cosine = cos(theta);
    float sine = sin(theta);
    *alpha = d * cosine - q * sine;
    *beta = q * cosine + d * sine;
}

void Transforms::Clarke(float a, float b, float *alpha, float *beta){
    *alpha = a;
    *beta = sqrtf(3.0f) / 3.0f * (a + 2.0f * b);
}

void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){
    *a = alpha;
    *b = 0.5f * (-alpha + sqrtf(3.0f) * beta);
    *c = 0.5f * (-alpha - sqrtf(3.0f) * beta);
}