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clean up SVM switch case style

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This commit is contained in:
Oskar Weigl
2018-10-22 20:23:54 -07:00
parent 066265beba
commit 8aac095bfd
1 changed files with 6 additions and 13 deletions
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Firmware/MotorControl/utils.c
+6 -13
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@@ -51,9 +51,8 @@ int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
*tA = (1.0f - t1 - t2) * 0.5f;
*tB = *tA + t1;
*tC = *tB + t2;
} break;
break;
}
// sextant v2-v3
case 2: {
// Vector on-times
@@ -64,9 +63,8 @@ int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
*tB = (1.0f - t2 - t3) * 0.5f;
*tA = *tB + t3;
*tC = *tA + t2;
} break;
break;
}
// sextant v3-v4
case 3: {
// Vector on-times
@@ -77,9 +75,8 @@ int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
*tB = (1.0f - t3 - t4) * 0.5f;
*tC = *tB + t3;
*tA = *tC + t4;
} break;
break;
}
// sextant v4-v5
case 4: {
// Vector on-times
@@ -90,9 +87,8 @@ int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
*tC = (1.0f - t4 - t5) * 0.5f;
*tB = *tC + t5;
*tA = *tB + t4;
} break;
break;
}
// sextant v5-v6
case 5: {
// Vector on-times
@@ -103,9 +99,8 @@ int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
*tC = (1.0f - t5 - t6) * 0.5f;
*tA = *tC + t5;
*tB = *tA + t6;
} break;
break;
}
// sextant v6-v1
case 6: {
// Vector on-times
@@ -116,9 +111,7 @@ int SVM(float alpha, float beta, float* tA, float* tB, float* tC) {
*tA = (1.0f - t6 - t1) * 0.5f;
*tC = *tA + t1;
*tB = *tC + t6;
break;
}
} break;
}
// if any of the results becomes NaN, result_valid will evaluate to false