Update main.c #7
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Changes to add LUT use Use of Clamp, MIN, MAX to reduce code space Some minor logic changes to reduce code use and (IMO) make it easier to read NOTE: Changed the pid calculation routine to return int32_t. It was using float, but no float types are used so it was a waste. Since int32_t is used for internal variables, it makes sense to use it, and you can then at least down-cast it to smaller types.
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Changes to add LUT use
Use of Clamp, MIN, MAX to reduce code space
Some minor logic changes to reduce code use and (IMO) make it easier to read
NOTE: Changed the pid calculation routine to return int32_t. It was using float, but no float types are used so it was a waste. Since int32_t is used for internal variables, it makes sense to use it, and you can then at least down-cast it to smaller types.