Basic and advanced math

Detailed Description

Authors

Arduino team, Avik De avikd.nosp@m.e@gm.nosp@m.ail.c.nosp@m.om

This file is part of koduino https://github.com/avikde/koduino

This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this library; if not, see http://www.gnu.org/licenses/.

Classes
class	DLPF
	Digital autoregressive low pass filter. More...
class	PD
	Generic proportional-derivative control (for use in a motor, look at the Motor controller library instead) More...

Functions
void	randomSeed (uint32_t dwSeed)
float	map (float x, float in_min, float in_max, float out_min, float out_max)
	Map a float (different from Arduino implementation) More...
float	interp1 (float from, float to, float frac)
	Linear interpolation between given endpoints. More...
float	fmodf_mpi_pi (float f)
	Mod an angle to between -PI and PI. More...
float	fmodf_0_2pi (float f)
	Mod an angle to between 0 and 2*PI. More...
float	fmodf_0_1 (float f)
	Mod between 0 and 1. More...
float	fmodf_mp5_p5 (float f)
	Mod between -0.5 and +0.5. More...
void	circleMeanDiff (float a, float b, float *mean, float *diff)
	Change coords to mean and diff on a circle (accounting for wraparound) More...
void	swapByte (uint8_t *a, uint8_t *b)
	Swaps the values pointed to be a and b.
void	setOutPtrSafe (float *out, float val)
	Convenient function to safely (watch for NULL passed) set an output var. More...
void	matMult (uint16_t nr1, uint16_t nc1, uint16_t nc2, float *m1, float *m2, float *mout)
	Use arm_mat_mult_f32 to multiply two matrices. More...

Function Documentation

void circleMeanDiff	(	float	a,
		float	b,
		float *	mean,
		float *	diff
	)

Change coords to mean and diff on a circle (accounting for wraparound)

Parameters

a	First angle in rad
b	Second angle in rad
mean	Mean angle
diff	Difference angle

float fmodf_0_1

(

float

f

)

Mod between 0 and 1.

Parameters

f	Input value

Returns

Result between 0 and 1

float fmodf_0_2pi

(

float

f

)

Mod an angle to between 0 and 2*PI.

Parameters

f	Input angle

Returns

Result between 0 and 2*PI

float fmodf_mp5_p5

(

float

f

)

Mod between -0.5 and +0.5.

Parameters

f	Input value

Returns

Result between -0.5 and +0.5

float fmodf_mpi_pi

(

float

f

)

Mod an angle to between -PI and PI.

Parameters

f	Input angle

Returns

Result between -PI and PI

float interp1	(	float	from,
		float	to,
		float	frac
	)

Linear interpolation between given endpoints.

Parameters

from	Lower endpoint
to	Higher endpoint
frac	float between 0.0 and 1.0

Returns

Interpolated value

float map	(	float	x,
		float	in_min,
		float	in_max,
		float	out_min,
		float	out_max
	)

Map a float (different from Arduino implementation)

Parameters

x	Value to map

Returns

x mapped from [in_min, in_max] to [out_min, out_max]

void matMult	(	uint16_t	nr1,
		uint16_t	nc1,
		uint16_t	nc2,
		float *	m1,
		float *	m2,
		float *	mout
	)

Use arm_mat_mult_f32 to multiply two matrices.

Parameters

nr1	Number of rows of M1
nc1	Number of columns of M1 ( = number of rows of M2)
nc2	Number of columns of M2
m1	Pointer to contents of M1 (row major)
m2	Pointer to contents of M2 (row major)
mout	Preallocated array (nr1*nc2) for contents of M1*M2

void randomSeed

(

uint32_t

dwSeed

)

Part of the Wiring project - http://wiring.org.co Copyright (c) 2004-06 Hernando Barragan Modified by David A. Mellis for Arduino - http://www.arduino.cc/, Avik De avikd.nosp@m.e@gm.nosp@m.ail.c.nosp@m.om

This file is part of koduino https://github.com/avikde/koduino

This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this library; if not, see http://www.gnu.org/licenses/.

void setOutPtrSafe	(	float *	out,
		float	val
	)

Convenient function to safely (watch for NULL passed) set an output var.

Parameters

out	Output variable (pointer) which could be NULL
val	Value to assign to output