Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: ThrottleMapper/ThrottleMapper.cpp

Revision:
160:6948bb7bcabd
Parent:
111:451e40aed753
Child:
185:5c102874b490
--- a/ThrottleMapper/ThrottleMapper.cpp	Sun May 07 17:43:41 2017 +0000
+++ b/ThrottleMapper/ThrottleMapper.cpp	Sat Jul 01 21:16:33 2017 +0000
@@ -48,4 +48,11 @@
         w = __wmax;
     }
     return (__wmax - w) / (__wmax - __wlim) * throttle;
+}
+
+float AutoThrottleMapper::map(float throttle, float w) {
+    if (throttle < 0.5f) return 0.0f;
+    val += 1.0f / _period / _rate;
+    if (val > 1.0f) val = 0.0f;
+    return val;
 }
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