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Fix setpoint rate sign, optimize code, cleanup from review
Also adds a `scaleRangef()` function to math.c
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4 changed files with 37 additions and 53 deletions
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@ -176,6 +176,12 @@ int scaleRange(int x, int srcFrom, int srcTo, int destFrom, int destTo) {
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return (a / b) + destFrom;
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}
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float scaleRangef(float x, float srcFrom, float srcTo, float destFrom, float destTo) {
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float a = (destTo - destFrom) * (x - srcFrom);
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float b = srcTo - srcFrom;
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return (a / b) + destFrom;
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}
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// Normalize a vector
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void normalizeV(struct fp_vector *src, struct fp_vector *dest)
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{
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