text: #ifndef MYMATH_H
  #define MYMATH_H
  int power(int in)
  {
      return (in*in);
  }
  
  float power(float in)
  {
      return (in*in);
  }
  
  int power3(int in)
  {
      return (power(in)*in);
  }
  
  int min(int a, int b)
  {
      int c;
      if(a<b) c=a;
      else c=b;
      return c;
  }
  
  int max(int a, int b)
  {
      int c;
      if(a<b) c=b;
      else c=a;
      return c;
  }
  
  float mag(float a)
  {
      float b;
      if (a>=0)
      {
          b=a;
      }
      else
      {
          b=-a;
      }
      return b;
  }
  
  void sat(float &x, float a)
  {
      float b=mag(a);
      if (x>b)
      {
          x=b;
      }
      else if (x<-b)
      {
          x=-b;
      }
  }
  
  #endif // MYMATH_H
  