# Sine CosineController Functions

## Functions

void arm_sin_cos_f32 (float32_t theta, float32_t *pSinVal, float32_t *pCosVal)
Floating-point sin_cos function.

void arm_sin_cos_q31 (q31_t theta, q31_t *pSinVal, q31_t *pCosVal)
Q31 sin_cos function.

## Description

Computes the trigonometric sine and cosine values using a combination of table lookup and linear interpolation. There are separate functions for Q31 and floating-point data types. The input to the floating-point version is in degrees while the fixed-point Q31 have a scaled input with the range [-1 0.9999] mapping to [-180 +180] degrees.

The floating point function also allows values that are out of the usual range. When this happens, the function will take extra time to adjust the input value to the range of [-180 180].

The result is accurate to 5 digits after the decimal point.

The implementation is based on table lookup using 360 values together with linear interpolation. The steps used are:

1. Calculation of the nearest integer table index.
2. Compute the fractional portion (fract) of the input.
3. Fetch the value corresponding to `index` from sine table to `y0` and also value from `index+1` to `y1`.
4. Sine value is computed as ` *psinVal = y0 + (fract * (y1 - y0))`.
5. Fetch the value corresponding to `index` from cosine table to `y0` and also value from `index+1` to `y1`.
6. Cosine value is computed as ` *pcosVal = y0 + (fract * (y1 - y0))`.

## Function Documentation

 void arm_sin_cos_f32 ( float32_t `theta, ` float32_t * `pSinVal, ` float32_t * `pCosVal ` )
Parameters
 [in] `theta` input value in degrees [out] `*pSinVal` points to the processed sine output. [out] `*pCosVal` points to the processed cos output.
Returns
none.

References FAST_MATH_TABLE_SIZE, and sinTable_f32.

 void arm_sin_cos_q31 ( q31_t `theta, ` q31_t * `pSinVal, ` q31_t * `pCosVal ` )
Parameters
 [in] `theta` scaled input value in degrees [out] `*pSinVal` points to the processed sine output. [out] `*pCosVal` points to the processed cosine output.
Returns
none.

The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].

References clip_q63_to_q31(), CONTROLLER_Q31_SHIFT, and sinTable_q31.