Fix potential undefined behavior in sin/cos - #524
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Description
Fixes #505 (cast from float to unsigned int not guaranteed to work on all platforms)
When testing, I also discovered that it may not work on platforms with 16-bit int. On PC, casting from float to short (signed 16-bit integer) will saturate to -32768 if the float value is outside of the -32768 to 32767 range, rather than truncating the upper bits. So the initial conversion is now to 32-bit int, then truncate to whatever is fastest for the platform you're on.
Type of change
Type of change
How Has This Been Tested?
Max error and RMS error verified unchanged on PC. Tested running a motor in open loop mode on STM32.