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Merge pull request #6073 from mikeller/fix_apply_deadband 

Improved 'applyDeadband()', added 'fapplyDeadband()' at @diehertz' request.
This commit is contained in:
Michael Keller 2018-06-10 02:58:47 +12:00 committed by GitHub
parent ce61f3b99d bc048bc23f
commit 27f88b263d
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 14 deletions
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22
src/main/common/maths.c
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@ -118,28 +118,22 @@ float powerf(float base, int exp) {
return result; return result;
} }
int32_t applyDeadband(int32_t value, int32_t deadband) int32_t applyDeadband(const int32_t value, const int32_t deadband)
{ {
if (ABS(value) < deadband) { if (ABS(value) < deadband) {
value = 0; return 0;
} else if (value > 0) {
value -= deadband;
} else if (value < 0) {
value += deadband;
} }
return value;
return value >= 0 ? value - deadband : value + deadband;
} }
float fapplyDeadband(float value, float deadband) float fapplyDeadband(const float value, const float deadband)
{ {
if (fabsf(value) < deadband) { if (fabsf(value) < deadband) {
value = 0; return 0;
} else if (value > 0) {
value -= deadband;
} else if (value < 0) {
value += deadband;
} }
return value;
return value >= 0 ? value - deadband : value + deadband;
} }
void devClear(stdev_t *dev) void devClear(stdev_t *dev)