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30 lines
705 B
C
30 lines
705 B
C
#ifndef MOTOR_CONTROLS_H
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#define MOTOR_CONTROLS_H
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// Interpolate value (x) based on raw reading, min/max limits.
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/*
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Joystick scale: 4096 2048 0
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PWM scale: 8191 4096 0
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PWM Output: +8191 0 -8191
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*/
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static int interpolate_raw_val (int raw) {
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int x;
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x = raw*2;
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return x;
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}
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// Function that converts raw value from joystick scale (0 to 4096) to PCM scale (-8192 to 8192).
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static int rescale_raw_val (int raw) {
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int s;
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s = 4*raw - 8190;
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//s = -(raw*raw) + 4.122*raw - 8190;
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//s = (8190/2048^1)*(raw - 2048)^1; // Linear rescaling
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//s = (8190/1870^3)*(raw - 1870)^3; // Cubic rescaling
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return s;
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}
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#endif |