Bayley Wang
/
foc-ed_in_the_bot_compact
robot
ThrottleMapper/ThrottleMapper.h@50:f508c7860342, 2017-01-22 (annotated)
- Committer:
- bwang
- Date:
- Sun Jan 22 04:19:10 2017 +0000
- Revision:
- 50:f508c7860342
- Parent:
- 42:030e0ec4eac5
- Child:
- 56:c681001dfa46
excellent performance
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 | 42:030e0ec4eac5 | 23 | #endif |