foc-ed_in_the_bot_compact - robot

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DQMapper/DQMapper.h@42:030e0ec4eac5, 2017-01-06 (annotated)

structural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/*

User	Revision	Line number	New contents of line
bwang	42:030e0ec4eac5	1	#ifndef __DQ_MAPPER_H
bwang	42:030e0ec4eac5	2	#define __DQ_MAPPER_H
bwang	42:030e0ec4eac5	3
bwang	42:030e0ec4eac5	4	class DQMapper {
bwang	42:030e0ec4eac5	5	public:
bwang	42:030e0ec4eac5	6	virtual void map(float torque_percent, float w, float d, float q) = 0;
bwang	42:030e0ec4eac5	7	};
bwang	42:030e0ec4eac5	8
bwang	42:030e0ec4eac5	9	class QOnlyMapper : public DQMapper {
bwang	42:030e0ec4eac5	10	public:
bwang	42:030e0ec4eac5	11	QOnlyMapper(float kt, float tmax) {_kt = kt; _tmax = tmax;}
bwang	42:030e0ec4eac5	12	virtual void map(float torque_percent, float w, float d, float q) {d = 0; q = torque_percent * _tmax / _kt;}
bwang	42:030e0ec4eac5	13	private:
bwang	42:030e0ec4eac5	14	float _kt;
bwang	42:030e0ec4eac5	15	float _tmax;
bwang	42:030e0ec4eac5	16	};
bwang	42:030e0ec4eac5	17
bwang	42:030e0ec4eac5	18	class LutMapper : public DQMapper {
bwang	42:030e0ec4eac5	19	public:
bwang	42:030e0ec4eac5	20	virtual void map(float torque_percent, float w, float d, float q);
bwang	42:030e0ec4eac5	21	};
bwang	42:030e0ec4eac5	22
bwang	42:030e0ec4eac5	23	#endif