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Change sqrtf to std::sqrt

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2020-09-05 00:23:58 -04:00
parent 600832f8cf
commit 4815e5ed19
3 changed files with 4 additions and 4 deletions
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Firmware/MotorControl/motor.cpp
+1 -1
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@@ -349,7 +349,7 @@ bool Motor::FOC_current(float Id_des, float Iq_des, float I_phase, float pwm_pha
// Vector modulation saturation, lock integrator if saturated
// TODO make maximum modulation configurable
float mod_scalefactor = 0.80f * sqrt3_by_2 * 1.0f / sqrtf(mod_d * mod_d + mod_q * mod_q);
float mod_scalefactor = 0.80f * sqrt3_by_2 * 1.0f / std::sqrt(mod_d * mod_d + mod_q * mod_q);
if (mod_scalefactor < 1.0f) {
mod_d *= mod_scalefactor;
mod_q *= mod_scalefactor;
Firmware/MotorControl/trapTraj.cpp
+1 -1
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@@ -42,7 +42,7 @@ bool TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi, float Vi,
// Are we displacing enough to reach cruising speed?
if (s*dX < s*dXmin) {
// Short move (triangle profile)
Vr_ = s * sqrtf(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
Vr_ = s * std::sqrt(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
Ta_ = std::max(0.0f, (Vr_ - Vi) / Ar_);
Td_ = std::max(0.0f, -Vr_ / Dr_);
Tv_ = 0.0f;
Firmware/Tests/test_trap_traj.cpp
+2 -2
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@@ -85,8 +85,8 @@ bool TrapezoidalTrajectory::planTrapezoidal(float Xf, float Xi, float Vi,
// Are we displacing enough to reach cruising speed?
if (s*dX < s*dXmin) {
// Short move (triangle profile)
Vr_ = s * sqrtf(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
//Vr_ = s * sqrtf((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_));
Vr_ = s * std::sqrt(std::max((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_), 0.0f));
//Vr_ = s * std::sqrt((Dr_*SQ(Vi) + 2*Ar_*Dr_*dX) / (Dr_ - Ar_));
Ta_ = std::max(0.0f, (Vr_ - Vi) / Ar_);
Td_ = std::max(0.0f, -Vr_ / Dr_);
Tv_ = 0.0f;