helper.h File Reference

#include "encoder.h"
#include "mbed.h"
#include <functional>

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Functions
template<class T >
constexpr const T &	clamp (const T &v, const T &lo, const T &hi)
	Clamp the value between [lo,high]. More...
template<class T >
constexpr const T	speed_to_pps (const T &speed)
	Convert m/s to pulse per sec(PPS). More...
template<class T >
constexpr const T	radiansToDegrees (const T &angle)
	Convert radians to degree. More...

Function Documentation

clamp()

template<class T >

constexpr const T & clamp ( const T &  v, const T &  lo, const T &  hi  )

constexpr

Clamp the value between [lo,high].

Template Parameters

T	Type to work with. This project use mostly float.

Parameters

v	Original value.
lo	Lower bound.
hi	Upper bound.

Returns

constexpr const T& Clamped value.

speed_to_pps()

template<class T >

constexpr const T speed_to_pps ( const T &  speed )

constexpr

Convert m/s to pulse per sec(PPS).

Template Parameters

T	Type to work with. This project use mostly double.

Parameters

speed

original speed.

Returns

constexpr const T converted pps.

radiansToDegrees()

template<class T >

constexpr const T radiansToDegrees ( const T &  angle )

constexpr

Convert radians to degree.

Template Parameters

T	Type to work with. This project use mostly double.

Parameters

angle

angle in radians

Returns

constexpr const T angle in degrees