test circle and test 1000pts encoder

[aversive.git] / projects / microb2009 / mainboard / strat_utils.c

diff --git a/projects/microb2009/mainboard/strat_utils.c b/projects/microb2009/mainboard/strat_utils.c
index 81a12d6..37f2b37 100644 (file)
--- a/projects/microb2009/mainboard/strat_utils.c
+++ b/projects/microb2009/mainboard/strat_utils.c
@@ -86,18 +86,6 @@ int16_t simple_modulo_360(int16_t a)
        return a;
 }
 
        return a;
 }
 

-/** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */  
-double simple_modulo_2pi(double a)
-{
-       if (a < -M_PI) {
-               a += M_2PI;
-       }
-       else if (a > M_PI) {
-               a -= M_2PI;
-       }
-       return a;
-}
-

 /* return the distance to a point in the area */
 int16_t angle_abs_to_rel(int16_t a_abs)
 {
 /* return the distance to a point in the area */
 int16_t angle_abs_to_rel(int16_t a_abs)
 {