Embedded developer here, using 8-bit microcontrollers, so all our calculations are done in fixed-point/integers. Here's a chunk of real code that converts resu

Embedded developer here, using 8-bit microcontrollers, so all our calculations are done in fixed-point/integers. Here's a chunk of real code that converts results from the analog-digital converter to appropriate units. A lot of precalculated constants and things like using shifts instead of division as much as possible. // - motor current from ACS723 (2.5V is 0A, +/- 400mV/A) ADC_SET_MUX(motor_current_in_adc); ADC_START(); while (ADC_RUNNING()) {} uint8_t result_current = ADCH; // result(val) * 5V/256(val) * 1000mA/0.4V => result*48.828 = current in ma // e.g. 5A -> 4.5V out = 230, less 2.5V (128) = 102 // 102 * 48.828125 = 4980 mA // for max precision, max multiplier = 32678/128 = 255, // use (value * (48.828 << 2)) >> 2. -> 195 // value_ma = (result_adc * 195) >> 2 current_ma = (((int16_t)(result_current) -127) * 195) >> 2; // - motor output speed feedback signal (filtered PWM, 16% (1/6.1) of actual value, so 5V in == 30.5V) ADC_SET_MUX(motor_speed_fb_adc); ADC_START(); while (ADC_RUNNING()) {} uint8_t result_speed = ADCH; // result(val) * 6.1 = actual speed setting // result / 256 * 6100 = actual in mV int16_t speed_mv = (uint16_t) result_speed * 119; #if DEBUG // calculate target speed mv uint16_t output_speed_mv = ((uint16_t) motor_current_speed * 195) >> 2; #endif