float sin_r(float in_val);
float cos_r(float in_val);
float tan_r(float in_val);


float cos_r(float in_val)
{
	return(sin_r(90.0 - in_val));
}

float tan_r(float in_val)
{
	return(sin_r(in_val) / cos_r(in_val));
}
/***************************************************************************************/
/*float		in_val: 角度の入力*/
/***************************************************************************************/
float sin_r(float in_val)
{
float sin_table[] = {
0.00000 ,
0.01745 ,0.03490 ,0.05234 ,0.06976 ,0.08716 ,0.10453 ,0.12187 ,0.13917 ,0.15643 ,0.17365 ,
0.19081 ,0.20791 ,0.22495 ,0.24192 ,0.25882 ,0.27564 ,0.29237 ,0.30902 ,0.32557 ,0.34202 ,
0.35837 ,0.37461 ,0.39073 ,0.40674 ,0.42262 ,0.43837 ,0.45399 ,0.46947 ,0.48481 ,0.50000 ,
0.51504 ,0.52992 ,0.54464 ,0.55919 ,0.57358 ,0.58779 ,0.60182 ,0.61566 ,0.62932 ,0.64279 ,
0.65606 ,0.66913 ,0.68200 ,0.69466 ,0.70711 ,0.71934 ,0.73135 ,0.74314 ,0.75471 ,0.76604 ,
0.77715 ,0.78801 ,0.79864 ,0.80902 ,0.81915 ,0.82904 ,0.83867 ,0.84805 ,0.85717 ,0.86603 ,
0.87462 ,0.88295 ,0.89101 ,0.89879 ,0.90631 ,0.91355 ,0.92050 ,0.92718 ,0.93358 ,0.93969 ,
0.94552 ,0.95106 ,0.95630 ,0.96126 ,0.96593 ,0.97030 ,0.97437 ,0.97815 ,0.98163 ,0.98481 ,
0.98769 ,0.99027 ,0.99255 ,0.99452 ,0.99619 ,0.99756 ,0.99863 ,0.99939 ,0.99985 ,1.00000 
};
int			table_number;
float		workf, out_val1, out_val2, out_val, sign, sign2;



	if(in_val >= 360 || in_val <= -360.0)
	{
		workf = (int)(in_val / 360.0);
		in_val = in_val - workf * 360.0;
	}


	sign = 1.0;
	sign2 = 1.0;

	if(in_val < 0.0)
	{
		sign2 = -1.0;
		in_val = in_val * -1.0;
	}


	if(in_val >= 90 && in_val < 180)
	{
		sign = 1.0;
		in_val = 180.0 - in_val;
	}
	if(in_val >= 180 && in_val < 270)
	{
		sign = -1.0;
		in_val = in_val - 180;
	}
	if(in_val >= 270 && in_val < 360)
	{
		sign = -1.0;
		in_val = 360.0 - in_val;
	}


	table_number = (int)in_val;
	if(table_number < 90)
	{
		out_val1 = sin_table[table_number];
		out_val2 = sin_table[table_number + 1];

		workf = (int)in_val;
		workf = in_val - workf;

		out_val = out_val1 + (out_val2 - out_val1) * workf;
		out_val = out_val * sign * sign2;

	}
	else
	{
		out_val = sin_table[table_number] * sign * sign2;
	}

	return(out_val);
}

/*****************************************************************/
/*数直線作成サブルーチン                                         */
/*区間の速度はｃｏｓ関数で変化・・・引数の主は時間               */
/*  coo		:数直線                                              */
/*  time	:トータル時間（制御波形の再生時間）                  */
/*  length	:数直線の長さ                                        */
/*  返り値  :数直線の構成要素数                                  */
/*****************************************************************/
int num_line_w60(float coo[64], int data_num, float length)
{
int		i;

float	PI = 180.0;
/*ＲＣサーボのＰＷＭ周期（秒）*/
float	a, t, dt_rad;
float	v;


	/*エラーの処理・・・あとで書く2003/6/14	*/
	if(data_num > 64)
	{
		return(-1);
	}


	dt_rad = 2.0 * PI / (float) data_num;
	t = dt_rad;
	a = length / (float) data_num;

	coo[0] = 0.0;

	/*デルタを計算*/
	for(i = 1; i < data_num; i++)
	{
		  v = - (a * cos_r(t)) + a;
		  coo[i] = v;
		  t = t + dt_rad;
	}

	return(data_num);
}