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//-----------------------------------------------
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//-----------------------------------------------
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signed int arctan_i(signed int x, signed int y)
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signed int arctan_i(signed int x, signed int y)
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{  
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{  
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   float rad,r;
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   float rad,r;
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   signed int angle;
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   signed int angle;
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   short int m;  
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   if (!x && !y) return 0;
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   if ( !x && !y) return 0;
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   if (y < 0)
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   {
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      y = abs(y);
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      m = -1;                   // neg. für Quadrant III + IV
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   }
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   else m = 1;
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   y = abs(y);
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   if (x>=0)
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   if (x>=0)
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      r = (x + y) / (y - x);
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      r = (x + y) / (y - x);
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      rad = 0.1963*r*r*r - 0.9817*r + 2.3562;
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      rad = 0.1963*r*r*r - 0.9817*r + 2.3562;
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   }
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   }
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   angle = (360 * rad) / 6.2832;
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   angle = (360 * rad) / 6.2832;
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   if (y < 0) return(-angle);     // negate if in quad III or IV
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   else return(angle);
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   return(angle*m);
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}
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}
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// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000
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// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000