Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

DQMapper/DQMapper.cpp@42:030e0ec4eac5, 2017-01-06 (annotated)

Committer:
bwang
Date:
Fri Jan 06 07:54:22 2017 +0000
Revision:
42:030e0ec4eac5
Child:
44:3fd6a43b91f0
structural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/*

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 42:030e0ec4eac5 1 #include "DQMapper.h"
bwang 42:030e0ec4eac5 2
bwang 42:030e0ec4eac5 3 #include "config_motor.h"
bwang 42:030e0ec4eac5 4 #include "config_table.h"
bwang 42:030e0ec4eac5 5
bwang 42:030e0ec4eac5 6 #include "dtab_n_w25.h"
bwang 42:030e0ec4eac5 7 #include "dtab_p_w25.h"
bwang 42:030e0ec4eac5 8 #include "qtab_n_w25.h"
bwang 42:030e0ec4eac5 9 #include "qtab_p_w25.h"
bwang 42:030e0ec4eac5 10
bwang 42:030e0ec4eac5 11 void LutMapper::map(float torque_percent, float w, float *d, float *q) {
bwang 42:030e0ec4eac5 12 w *= POLE_PAIRS;
bwang 42:030e0ec4eac5 13 if (w < 0.f) {
bwang 42:030e0ec4eac5 14 w = -w;
bwang 42:030e0ec4eac5 15 torque_percent = -torque_percent;
bwang 42:030e0ec4eac5 16 }
bwang 42:030e0ec4eac5 17 if (torque_percent > 0) {
bwang 42:030e0ec4eac5 18 int row = (int) (w / W_STEP);
bwang 42:030e0ec4eac5 19 int col = (int) (torque_percent * COLUMNS);
bwang 42:030e0ec4eac5 20
bwang 42:030e0ec4eac5 21 if (row >= ROWS) row = ROWS - 1;
bwang 42:030e0ec4eac5 22 if (col >= COLUMNS) col = COLUMNS - 1;
bwang 42:030e0ec4eac5 23
bwang 42:030e0ec4eac5 24 *d = (float) dtab_p_w25[row][col] / 128.f;
bwang 42:030e0ec4eac5 25 *q = (float) qtab_p_w25[row][col] / 128.f;
bwang 42:030e0ec4eac5 26 } else {
bwang 42:030e0ec4eac5 27 int row = (int) (w / W_STEP);
bwang 42:030e0ec4eac5 28 int col = (int) (-torque_percent * COLUMNS);
bwang 42:030e0ec4eac5 29
bwang 42:030e0ec4eac5 30 if (row >= ROWS) row = ROWS - 1;
bwang 42:030e0ec4eac5 31 if (col >= COLUMNS) col = COLUMNS - 1;
bwang 42:030e0ec4eac5 32
bwang 42:030e0ec4eac5 33 *d = (float) dtab_n_w25[row][col] / 128.f;
bwang 42:030e0ec4eac5 34 *q = (float) qtab_n_w25[row][col] / 128.f;
bwang 42:030e0ec4eac5 35 }
bwang 42:030e0ec4eac5 36 }