/*
 *  Alter error to enforce a deadband around zero and maximum error magnitudes.
 *
 *  Inputs:
 *   - error
 *   - deadband.  The deadband is over the region 0 +/- deadband
 *   - max.  The largest acceptable error magnitude beyond which output error
 *      is constant
 *
 *  Return: the modified error
 *   
 */

int16_t clip(int16_t error, int16_t deadband, int16_t max){

  if(error <= deadband && error >= (-deadband))
    return (0);
  if(error > max)
    return (max - deadband);
  if(error < (-max))
    return (-max+deadband);
  if(error > 0)
    return (error - deadband);
  return (error + deadband);
}