@@ -37,20 +37,82 @@ typedef enum {
3737#define SERIAL 0x0
3838#define DISPLAY 0x1
3939
40- #ifndef constrain
41- # define constrain ( amt,low,high ) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
40+ #ifdef __cplusplus
41+ } // extern "C"
4242#endif
4343
44- #ifndef radians
45- #define radians (deg ) ((deg)*DEG_TO_RAD)
46- #endif
44+ #ifdef __cplusplus
45+
46+ template <class T ,class L >
47+ auto min (const T& a,const L& b) -> decltype((b < a) ? b : a)
48+ {
49+ return (b < a) ? b : a;
50+ }
51+
52+ template <class T ,class L >
53+ auto max (const T& a,const L& b) -> decltype((b < a) ? b : a)
54+ {
55+ return (a < b) ? b : a;
56+ }
57+
58+
59+ template <class T ,class U ,class V >
60+ auto constrain (const T& amt,const U& low,const V& high) -> decltype((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
61+ {
62+ return (amt)<(low)?(low):((amt)>(high)?(high):(amt));
63+ }
64+
65+ template <class T >
66+ auto radians (const T& deg) -> decltype(deg * DEG_TO_RAD)
67+ {
68+ return deg * DEG_TO_RAD;
69+ }
70+
71+ template <class T >
72+ auto degrees (const T& rad) -> decltype(rad * RAD_TO_DEG)
73+ {
74+ return rad * RAD_TO_DEG;
75+ }
4776
48- #ifndef degrees
49- #define degrees (rad ) ((rad)*RAD_TO_DEG)
77+ template <class T >
78+ auto sq (const T& x) -> decltype(x*x)
79+ {
80+ return x*x;
81+ }
82+ #else
83+ #ifndef constrain
84+ #define constrain (amt,low,high ) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
85+ #endif
86+
87+ #ifndef radians
88+ #define radians (deg ) ((deg)*DEG_TO_RAD)
89+ #endif
90+
91+ #ifndef degrees
92+ #define degrees (rad ) ((rad)*RAD_TO_DEG)
93+ #endif
94+
95+ #ifndef sq
96+ #define sq (x ) ((x)*(x))
97+ #endif
98+
99+ #ifndef min
100+ #define min (a,b ) \
101+ ({__typeof__ (a) _a = (a); \
102+ __typeof__ (b) _b = (b); \
103+ _a < _b ? _a : _b; })
104+ #endif
105+
106+ #ifndef max
107+ #define max (a,b ) \
108+ ({__typeof__ (a) _a = (a); \
109+ __typeof__ (b) _b = (b); \
110+ _a > _b ? _a : _b; })
111+ #endif
50112#endif
51113
52- #ifndef sq
53- # define sq ( x ) ((x)*(x))
114+ #ifdef __cplusplus
115+ extern " C " {
54116#endif
55117
56118typedef void (*voidFuncPtr)(void );
@@ -119,32 +181,6 @@ void loop(void);
119181}// extern "C"
120182#endif
121183
122- #ifdef __cplusplus
123- template <class T ,class L >
124- auto min (const T& a,const L& b) -> decltype((b < a) ? b : a)
125- {
126- return (b < a) ? b : a;
127- }
128-
129- template <class T ,class L >
130- auto max (const T& a,const L& b) -> decltype((b < a) ? b : a)
131- {
132- return (a < b) ? b : a;
133- }
134- #else
135- #ifndef min
136- #define min (a,b ) \
137- ({__typeof__ (a) _a = (a); \
138- __typeof__ (b) _b = (b); \
139- _a < _b ? _a : _b; })
140- #endif
141- #ifndef max
142- #define max (a,b ) \
143- ({__typeof__ (a) _a = (a); \
144- __typeof__ (b) _b = (b); \
145- _a > _b ? _a : _b; })
146- #endif
147- #endif
148184
149185#ifdef __cplusplus
150186