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| 2189 | - | 1 | #ifndef CONSTANTS_h |
| 2 | #define CONSTANTS_h |
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| 3 | |||
| 4 | #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) |
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| 5 | #define PI 3.1415926535897932384626433832795 |
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| 6 | #define DEG_TO_RAD 0.017453292519943295769236907684886 |
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| 7 | #define RAD_TO_DEG 57.295779513082320876798154814105 |
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| 8 | #define ToRad(x) ((x)*DEG_TO_RAD) // *pi/180 |
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| 9 | #define degrees(rad) ((rad)*RAD_TO_DEG) |
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| 10 | #define INT16DEG_PI_FACTOR ((1L<<15) / PI) |
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| 11 | |||
| 12 | /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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| 13 | /* |
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| 14 | * rotations.h |
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| 15 | * Copyright (C) Andrew Tridgell 2012 |
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| 16 | * |
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| 17 | * This file is free software: you can redistribute it and/or modify it |
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| 18 | * under the terms of the GNU General Public License as published by the |
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| 19 | * Free Software Foundation, either version 3 of the License, or |
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| 20 | * (at your option) any later version. |
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| 21 | * |
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| 22 | * This file is distributed in the hope that it will be useful, but |
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| 23 | * WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 24 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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| 25 | * See the GNU General Public License for more details. |
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| 26 | * |
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| 27 | * You should have received a copy of the GNU General Public License along |
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| 28 | * with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 29 | */ |
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| 30 | |||
| 31 | // these rotations form a full set - every rotation in the following |
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| 32 | // list when combined with another in the list forms an entry which is |
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| 33 | // also in the list. This is an important property. Please run the |
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| 34 | // rotations test suite if you add to the list. |
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| 35 | |||
| 36 | // these rotation values are stored to EEPROM, so be careful not to |
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| 37 | // change the numbering of any existing entry when adding a new entry. |
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| 38 | enum Rotation { |
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| 39 | ROTATION_NONE = 0, |
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| 40 | ROTATION_YAW_45, |
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| 41 | ROTATION_YAW_90, |
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| 42 | ROTATION_YAW_135, |
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| 43 | ROTATION_YAW_180, |
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| 44 | ROTATION_YAW_225, |
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| 45 | ROTATION_YAW_270, |
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| 46 | ROTATION_YAW_315, |
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| 47 | ROTATION_ROLL_180, |
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| 48 | ROTATION_ROLL_180_YAW_45, |
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| 49 | ROTATION_ROLL_180_YAW_90, |
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| 50 | ROTATION_ROLL_180_YAW_135, |
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| 51 | ROTATION_PITCH_180, |
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| 52 | ROTATION_ROLL_180_YAW_225, |
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| 53 | ROTATION_ROLL_180_YAW_270, |
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| 54 | ROTATION_ROLL_180_YAW_315, |
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| 55 | ROTATION_MAX |
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| 56 | }; |
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| 57 | |||
| 58 | #endif |