129 lines
3.0 KiB
C
129 lines
3.0 KiB
C
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/*
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自定义的数学运算。
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*/
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#include "user_math.h"
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#include <string.h>
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inline float InvSqrt(float x) {
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//#if 0
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/* Fast inverse square-root */
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/* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */
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float halfx = 0.5f * x;
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float y = x;
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long i = *(long*)&y;
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i = 0x5f3759df - (i>>1);
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y = *(float*)&i;
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y = y * (1.5f - (halfx * y * y));
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y = y * (1.5f - (halfx * y * y));
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return y;
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//#else
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// return 1.0f / sqrtf(x);
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//#endif
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}
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inline float AbsClip(float in, float limit) {
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return (in < -limit) ? -limit : ((in > limit) ? limit : in);
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}
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inline void Clip(float *origin, float min, float max) {
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if (*origin > max) *origin = max;
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if (*origin < min) *origin = min;
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}
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inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
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/**
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* \brief 将运动向量置零
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*
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* \param mv 被操作的值
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*/
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inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
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/**
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* \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值
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* 例如编码器：相差1.5PI其实等于相差-0.5PI
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*
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* \param sp 被操作的值
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* \param fb 变化量
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* \param range 被操作的值变化范围，正数时起效
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*
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* \return 函数运行结果
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*/
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inline float CircleError(float sp, float fb, float range) {
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float error = sp - fb;
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if (range > 0.0f) {
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float half_range = range / 2.0f;
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if (error > half_range)
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error -= range;
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else if (error < -half_range)
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error += range;
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}
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return error;
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}
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/**
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* \brief 循环加法，用于没有负数值，并在一定范围内变化的值
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* 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI
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*
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* \param origin 被操作的值
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* \param delta 变化量
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* \param range 被操作的值变化范围，正数时起效
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*/
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inline void CircleAdd(float *origin, float delta, float range) {
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float out = *origin + delta;
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if (range > 0.0f) {
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if (out >= range)
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out -= range;
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else if (out < 0.0f)
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out += range;
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}
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*origin = out;
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}
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/**
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* @brief 循环值取反
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*
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* @param origin 被操作的值
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*/
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inline void CircleReverse(float *origin) { *origin = -(*origin) + M_2PI; }
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/**
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* @brief 根据目标弹丸速度计算摩擦轮转速
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*
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* @param bullet_speed 弹丸速度
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* @param fric_radius 摩擦轮半径
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* @param is17mm 是否为17mm
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* @return 摩擦轮转速
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*/
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inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
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if (bullet_speed == 0.0f) return 0.f;
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if (is17mm) {
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if (bullet_speed == 15.0f) return 4670.f;
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if (bullet_speed == 18.0f) return 5200.f;
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if (bullet_speed == 30.0f) return 7350.f;
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} else {
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if (bullet_speed == 10.0f) return 4450.f;
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if (bullet_speed == 16.0f) return 5800.f;
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}
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/* 不为裁判系统设定值时,计算转速 */
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return 60.0f * (float)bullet_speed / (M_2PI * fric_radius);
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}
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/**
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* @brief 断言失败处理
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*
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* @param file 文件名
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* @param line 行号
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*/
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void VerifyFailed(const char *file, uint32_t line) {
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UNUSED(file);
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UNUSED(line);
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while (1) {
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__NOP();
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}
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}
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