Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

ThrottleMapper/ThrottleMapper.h

Committer:
bwang
Date:
2017-01-25
Revision:
56:c681001dfa46
Parent:
50:f508c7860342
Child:
73:d44bc3a46942

File content as of revision 56:c681001dfa46:

#ifndef __THROTTLE_MAPPER_H
#define __THROTTLE_MAPPER_H

class ThrottleMapper {
public:
    virtual float map(float throttle, float w) = 0;
};

class NullThrottleMapper : public ThrottleMapper {
public:
    virtual float map(float throttle, float w) {return throttle;}
};

class DrivingThrottleMapper : public ThrottleMapper {
public:
    virtual float map(float throttle, float w);
private:
    float getMaxTqpctPlus(float w);
    float getMaxTqpctMinus(float w);
    float getZeroTqThrottle(float w);
};

class LimitingThrottleMapper : public ThrottleMapper {
public:
    LimitingThrottleMapper(float wmax);
    virtual float map(float throttle, float w);
private:
    float __wmax, __wlim;
};

#endif