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/*
This program (files math.c and math.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de
*/
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Peter Muehlenbrock
Winkelfunktionen sin, cos und arctan in
brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend
Stand 11.9.2007
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*/
// arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad
signed int arctan_i
(signed int x
, signed int y
)
{
short int sign
= 0;
signed int i
;
if (y
> x
) // x,y Werte vertauschen
{
sign
= 1;
i
= x
;
x
= y
;
y
= i
;
}
}
// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000
signed int cos_i
(signed int winkel
)
{
winkel
= sin_i
(90-winkel
);
return winkel
;
}
// sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000
signed int sin_i
(signed int winkel
)
{
short int m
;
winkel
= winkel
% 360;
// Quadranten auswerten
if ((winkel
>= 90 ) && (winkel
<180))
{
winkel
= 180 - winkel
;
m
= 1;
}
else if ((winkel
>= 180 ) && (winkel
<270))
{
winkel
= winkel
- 180;
m
= -1;
}
else if ((winkel
>= 270 ) && (winkel
< 360))
{
winkel
= 360 -winkel
;
m
= -1;
}
else if ((winkel
< 0) && (winkel
> -90))
{
winkel
= (abs(winkel
));
m
= -1;
}
else if ((winkel
< -90) && (winkel
> -180))
{
winkel
= 180-(abs(winkel
));
m
= -1;
}
else if ((winkel
< -180) && (winkel
> -270))
{
winkel
= (abs(winkel
))-180;
m
= +1;
}
else if ((winkel
< -270) && (winkel
> -360))
{
winkel
= 360-abs(winkel
);
m
= +1;
}
else
{
m
= +1;
}
//Aus Tabelle Werte holen
switch (winkel
)
{
case 1:
winkel
= 17;
break;
case 2:
winkel
= 35;
break;
case 3:
winkel
= 52;
break;
case 4:
winkel
= 70;
break;
case 5:
winkel
= 87;
break;
case 6:
winkel
= 105;
break;
case 7:
winkel
= 122;
break;
case 8:
winkel
= 139;
break;
case 9:
winkel
= 156;
break;
case 10:
winkel
= 174;
break;
case 11:
winkel
= 191;
break;
case 12:
winkel
= 208;
break;
case 13:
winkel
= 225;
break;
case 14:
winkel
= 242;
break;
case 15:
winkel
= 259;
break;
case 16:
winkel
= 276;
break;
case 17:
winkel
= 292;
break;
case 18:
winkel
= 309;
break;
case 19:
winkel
= 326;
break;
case 20:
winkel
= 342;
break;
case 21:
winkel
= 359;
break;
case 22:
winkel
= 375;
break;
case 23:
winkel
= 391;
break;
case 24:
winkel
= 407;
break;
case 25:
winkel
= 423;
break;
case 26:
winkel
= 438;
break;
case 27:
winkel
= 454;
break;
case 28:
winkel
= 469;
break;
case 29:
winkel
= 485;
break;
case 30:
winkel
= 500;
break;
case 31:
winkel
= 515;
break;
case 32:
winkel
= 530;
break;
case 33:
winkel
= 545;
break;
case 34:
winkel
= 559;
break;
case 35:
winkel
= 574;
break;
case 36:
winkel
= 588;
break;
case 37:
winkel
= 602;
break;
case 38:
winkel
= 616;
break;
case 39:
winkel
= 630;
break;
case 40:
winkel
= 643;
break;
case 41:
winkel
= 656;
break;
case 42:
winkel
= 682;
break;
case 43:
winkel
= 682;
break;
case 44:
winkel
= 695;
break;
case 45:
winkel
= 707;
break;
case 46:
winkel
= 719;
break;
case 47:
winkel
= 731;
case 48:
winkel
= 743;
break;
case 49:
winkel
= 755;
break;
case 50:
winkel
= 766;
break;
case 51:
winkel
= 777;
break;
case 52:
winkel
= 788;
break;
case 53:
winkel
= 799;
break;
case 54:
winkel
= 809;
break;
case 55:
winkel
= 819;
break;
case 56:
winkel
= 829;
break;
case 57:
winkel
= 839;
break;
case 58:
winkel
= 848;
break;
case 59:
winkel
= 857;
break;
case 60:
winkel
= 866;
break;
case 61:
winkel
= 875;
break;
case 62:
winkel
= 883;
break;
case 63:
winkel
= 891;
break;
case 64:
winkel
= 899;
break;
case 65:
winkel
= 906;
break;
case 66:
winkel
= 914;
break;
case 67:
winkel
= 921;
break;
case 68:
winkel
= 927;
break;
case 69:
winkel
= 934;
break;
case 70:
winkel
= 940;
break;
case 71:
winkel
= 946;
break;
case 72:
winkel
= 951;
break;
case 73:
winkel
= 956;
break;
case 74:
winkel
= 961;
break;
case 75:
winkel
= 966;
break;
case 76:
winkel
= 970;
break;
case 77:
winkel
= 974;
break;
case 78:
winkel
= 978;
break;
case 79:
winkel
= 982;
break;
case 80:
winkel
= 985;
break;
case 81:
winkel
= 988;
break;
case 82:
winkel
= 990;
break;
case 83:
winkel
= 993;
break;
case 84:
winkel
= 995;
break;
case 85:
winkel
= 996;
break;
case 86:
winkel
= 998;
break;
case 87:
winkel
= 999;
break;
case 88:
winkel
= 999;
break;
case 89:
winkel
= 1000;
break;
case 90:
winkel
= 1000;
break;
default:
winkel
= 0;
break;
}
return (winkel
*m
);
}