Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

ThrottleMapper/ThrottleMapper.cpp@252:38644631ed97, 2018-11-13 (annotated)

Committer:
bwang
Date:
Tue Nov 13 17:46:23 2018 +0000
Revision:
252:38644631ed97
Parent:
192:3152a86cd108 
11/13/2018 12:45 - hitting <return> on empty line prints "\r>", so that hitting enter after intially connecting to the controller generates a prompt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 42:030e0ec4eac5 1 #include "ThrottleMapper.h"
bwang 185:5c102874b490 2 #include "derived.h"
bwang 192:3152a86cd108 3 #include "prefs.h"
bwang 42:030e0ec4eac5 4
bwang 42:030e0ec4eac5 5 float DrivingThrottleMapper::map(float throttle, float w) {
bwang 111:451e40aed753 6 if (throttle < 0.0f) throttle = 0.0f;
bwang 111:451e40aed753 7
bwang 42:030e0ec4eac5 8 float z = getZeroTqThrottle(w);
bwang 42:030e0ec4eac5 9 float tq, tqmax;
bwang 42:030e0ec4eac5 10
bwang 42:030e0ec4eac5 11 if (throttle > z) tqmax = getMaxTqpctPlus(w);
bwang 42:030e0ec4eac5 12 if (throttle <= z) tqmax = getMaxTqpctMinus(w);
bwang 42:030e0ec4eac5 13
bwang 42:030e0ec4eac5 14 if (throttle > z) tq = (throttle - z) / (1.0f - z);
bwang 42:030e0ec4eac5 15 if (throttle <= z) tq = (throttle - z) / z;
bwang 42:030e0ec4eac5 16
bwang 42:030e0ec4eac5 17 if (tq > tqmax) tq = tqmax;
bwang 42:030e0ec4eac5 18 return tq;
bwang 42:030e0ec4eac5 19 }
bwang 42:030e0ec4eac5 20
bwang 42:030e0ec4eac5 21 float DrivingThrottleMapper::getMaxTqpctPlus(float w) {
bwang 192:3152a86cd108 22 return _MAX_TQPCT_PLUS;
bwang 42:030e0ec4eac5 23 }
bwang 42:030e0ec4eac5 24
bwang 42:030e0ec4eac5 25 float DrivingThrottleMapper::getMaxTqpctMinus(float w) {
bwang 192:3152a86cd108 26 return _MAX_TQPCT_MINUS;
bwang 42:030e0ec4eac5 27 }
bwang 42:030e0ec4eac5 28
bwang 42:030e0ec4eac5 29 float DrivingThrottleMapper::getZeroTqThrottle(float w) {
bwang 192:3152a86cd108 30 float tmp = w / _W_MAX;
bwang 42:030e0ec4eac5 31 return tmp < 1.0f ? tmp : 1.0f;
bwang 56:c681001dfa46 32 }
bwang 56:c681001dfa46 33
bwang 56:c681001dfa46 34 LimitingThrottleMapper::LimitingThrottleMapper(float wmax) {
bwang 56:c681001dfa46 35 __wmax = wmax;
bwang 56:c681001dfa46 36 __wlim = 0.95f * __wmax;
bwang 56:c681001dfa46 37 }
bwang 56:c681001dfa46 38
bwang 56:c681001dfa46 39 float LimitingThrottleMapper::map(float throttle, float w) {
bwang 111:451e40aed753 40 if (throttle < 0.0f) throttle = 0.0f;
bwang 111:451e40aed753 41
bwang 56:c681001dfa46 42 if (w <= __wlim) {
bwang 56:c681001dfa46 43 return throttle;
bwang 56:c681001dfa46 44 }
bwang 56:c681001dfa46 45 if (w > __wmax) {
bwang 56:c681001dfa46 46 w = __wmax;
bwang 56:c681001dfa46 47 }
bwang 56:c681001dfa46 48 return (__wmax - w) / (__wmax - __wlim) * throttle;
bwang 160:6948bb7bcabd 49 }
bwang 160:6948bb7bcabd 50
bwang 160:6948bb7bcabd 51 float AutoThrottleMapper::map(float throttle, float w) {
bwang 160:6948bb7bcabd 52 if (throttle < 0.5f) return 0.0f;
bwang 160:6948bb7bcabd 53 val += 1.0f / _period / _rate;
bwang 160:6948bb7bcabd 54 if (val > 1.0f) val = 0.0f;
bwang 160:6948bb7bcabd 55 return val;
bwang 42:030e0ec4eac5 56 }