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// This is a component for EMC2 HAL
// Copyright 2008 Stephen Wille Padnos <swpadnos at sourceforge dot net>
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of version 2 of the GNU General
// Public License as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
component invert """Compute the inverse of the input signal
The output will be the mathematical inverse of the input, ie \\fBout\\fR = 1/\\fBin\\fR.
The parameter \\fBdeadband\\fR can be used to control how close to 0 the denominator can be
before the output is clamped to 0. \\fBdeadband\\fR must be at least 1e-8, and must be positive.""";
pin in float in "Analog input value" ;
pin out float out "Analog output value";
param rw float deadband "The \\fBout\\fR will be zero if \\fBin\\fR is between -\\fBdeadband\\fR and +\\fBdeadband\\fR" ;
function _;
license "GPL";
;;
#include <rtapi_math.h>
FUNCTION(_) {
double tmp = in;
if (deadband < 1e-12) deadband = 1e-12;
if ( tmp > -deadband && tmp <0)
out = -1/deadband;
else if (tmp >= 0 && tmp <deadband)
out = 1/deadband;
else
out = 1/tmp;
}
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