helper.h

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#ifndef HELPER_H
#define HELPER_H
 
#include "encoder.h"
#include "mbed.h"
#include <functional>
 
template <class T>
constexpr const T &clamp(const T &v, const T &lo, const T &hi) {
    return std::less<T>{}(v, lo) ? lo : std::less<T>{}(hi, v) ? hi
                                                              : v;
}
 
template <class T>
constexpr const T speed_to_pps(const T &speed) {
    return speed * 512 / Encoder::CIRCUMFERENCE;
}
 
template <class T>
constexpr const T radiansToDegrees(const T &angle) {
    return angle * 180.0 / M_PI;
}
 
#endif