refactor

control.cpp

@@ -7,28 +7,10 @@
 
 
 #include "control.h"
+#include "utils.h"
 
 
 
-int32_t max(int32_t a, int32_t b){
-  return (a >= b) ? a : b;
-}
-
-
-int32_t min(int32_t a, int32_t b) {
-  return (a <= b) ? a : b;
-}
-
-int32_t minmax(int32_t lowerBound, int32_t value, int32_t upperBound){
-  int32_t res = value;
-  if (value <= lowerBound) {
-    res = lowerBound;
-  } else if (value >= upperBound) {
-    res = upperBound;
-  }
-  return res;
-}
-
 
 Control::Control(float p_rMin, float p_rMax, float p_kP, float p_kI, float p_kD) :
   m_rOld(0), m_eOld(0), m_eOld2(0),

utils.cpp

@@ -0,0 +1,33 @@
+/*
+ * utils.cpp
+ *
+ *  Created on: Feb 11, 2015
+ *      Author: wn
+ */
+
+
+
+
+#include "utils.h"
+
+
+int32_t max(int32_t a, int32_t b){
+  return (a >= b) ? a : b;
+}
+
+
+int32_t min(int32_t a, int32_t b) {
+  return (a <= b) ? a : b;
+}
+
+int32_t minmax(int32_t lowerBound, int32_t value, int32_t upperBound){
+  int32_t res = value;
+  if (value <= lowerBound) {
+    res = lowerBound;
+  } else if (value >= upperBound) {
+    res = upperBound;
+  }
+  return res;
+}
+
+

utils.h

@@ -0,0 +1,20 @@
+/*
+ * utils.h
+ *
+ *  Created on: Feb 11, 2015
+ *      Author: wn
+ */
+
+#ifndef UTILS_H_
+#define UTILS_H_
+
+
+#include <stdint.h>
+
+int32_t max(int32_t a, int32_t b);
+int32_t min(int32_t a, int32_t b);
+int32_t minmax(int32_t lowerBound, int32_t value, int32_t upperBound);
+
+
+
+#endif /* UTILS_H_ */