Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: DQMapper/DQMapper.h

Revision:
44:3fd6a43b91f0
Parent:
42:030e0ec4eac5
Child:
45:cf8ad81fb0f0
--- a/DQMapper/DQMapper.h	Fri Jan 06 09:10:45 2017 +0000
+++ b/DQMapper/DQMapper.h	Sun Jan 08 09:03:15 2017 +0000
@@ -15,6 +15,16 @@
     float _tmax;
 };
 
+class LinearNoFWMapper : public DQMapper {
+public:
+    LinearNoFWMapper(float kt, float tmax, float lambda) {_kt = kt; _tmax = tmax; _lambda = lambda;}
+    virtual void map(float torque_percent, float w, float *d, float *q);
+private:
+    float _kt;
+    float _tmax;
+    float _lamdba;
+};
+
 class LutMapper : public DQMapper {
 public:
     virtual void map(float torque_percent, float w, float *d, float *q);