Bayley Wang
/
foc-ed_in_the_bot_compact
robot
ThrottleMapper/ThrottleMapper.h@56:c681001dfa46, 2017-01-25 (annotated)
- Committer:
- bwang
- Date:
- Wed Jan 25 22:19:55 2017 +0000
- Revision:
- 56:c681001dfa46
- Parent:
- 50:f508c7860342
- Child:
- 73:d44bc3a46942
added (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85%
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 42:030e0ec4eac5 | 1 | #ifndef __THROTTLE_MAPPER_H |
bwang | 42:030e0ec4eac5 | 2 | #define __THROTTLE_MAPPER_H |
bwang | 42:030e0ec4eac5 | 3 | |
bwang | 42:030e0ec4eac5 | 4 | class ThrottleMapper { |
bwang | 42:030e0ec4eac5 | 5 | public: |
bwang | 42:030e0ec4eac5 | 6 | virtual float map(float throttle, float w) = 0; |
bwang | 42:030e0ec4eac5 | 7 | }; |
bwang | 42:030e0ec4eac5 | 8 | |
bwang | 42:030e0ec4eac5 | 9 | class NullThrottleMapper : public ThrottleMapper { |
bwang | 42:030e0ec4eac5 | 10 | public: |
bwang | 42:030e0ec4eac5 | 11 | virtual float map(float throttle, float w) {return throttle;} |
bwang | 42:030e0ec4eac5 | 12 | }; |
bwang | 42:030e0ec4eac5 | 13 | |
bwang | 50:f508c7860342 | 14 | class DrivingThrottleMapper : public ThrottleMapper { |
bwang | 42:030e0ec4eac5 | 15 | public: |
bwang | 42:030e0ec4eac5 | 16 | virtual float map(float throttle, float w); |
bwang | 42:030e0ec4eac5 | 17 | private: |
bwang | 42:030e0ec4eac5 | 18 | float getMaxTqpctPlus(float w); |
bwang | 42:030e0ec4eac5 | 19 | float getMaxTqpctMinus(float w); |
bwang | 42:030e0ec4eac5 | 20 | float getZeroTqThrottle(float w); |
bwang | 42:030e0ec4eac5 | 21 | }; |
bwang | 50:f508c7860342 | 22 | |
bwang | 56:c681001dfa46 | 23 | class LimitingThrottleMapper : public ThrottleMapper { |
bwang | 56:c681001dfa46 | 24 | public: |
bwang | 56:c681001dfa46 | 25 | LimitingThrottleMapper(float wmax); |
bwang | 56:c681001dfa46 | 26 | virtual float map(float throttle, float w); |
bwang | 56:c681001dfa46 | 27 | private: |
bwang | 56:c681001dfa46 | 28 | float __wmax, __wlim; |
bwang | 56:c681001dfa46 | 29 | }; |
bwang | 56:c681001dfa46 | 30 | |
bwang | 42:030e0ec4eac5 | 31 | #endif |