Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: DQMapper/DQMapper.h

Revision:
42:030e0ec4eac5
Child:
44:3fd6a43b91f0
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DQMapper/DQMapper.h	Fri Jan 06 07:54:22 2017 +0000
@@ -0,0 +1,23 @@
+#ifndef __DQ_MAPPER_H
+#define __DQ_MAPPER_H
+
+class DQMapper {
+public:
+    virtual void map(float torque_percent, float w, float *d, float *q) = 0;
+};
+
+class QOnlyMapper : public DQMapper {
+public:
+    QOnlyMapper(float kt, float tmax) {_kt = kt; _tmax = tmax;}
+    virtual void map(float torque_percent, float w, float *d, float *q) {*d = 0; *q = torque_percent * _tmax / _kt;}
+private:
+    float _kt;
+    float _tmax;
+};
+
+class LutMapper : public DQMapper {
+public:
+    virtual void map(float torque_percent, float w, float *d, float *q);
+};
+
+#endif
\ No newline at end of file