Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Tables/nqtab.h@48:a1a09c83d42c, 2017-01-13 (annotated)

Committer:
bwang
Date:
Fri Jan 13 08:07:34 2017 +0000
Revision:
48:a1a09c83d42c
Child:
49:da8604278d76
bugfixes on table code (zero throttle is now zero torque, fixed a sign error going in reverse); current table has some made-up saturation curves taken into account

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 48:a1a09c83d42c 1 #ifndef __nqtab_h
bwang 48:a1a09c83d42c 2 #define __nqtab_h
bwang 48:a1a09c83d42c 3 short nqtab[121][50] = {
bwang 48:a1a09c83d42c 4 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 5 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 6 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 7 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 8 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 9 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 10 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 11 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 12 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 13 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 14 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 15 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
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bwang 48:a1a09c83d42c 20 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 21 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
bwang 48:a1a09c83d42c 22 {-676,-1323,-1934,-2510,-3056,-3575,-4071,-4544,-4994,-5422,-5826,-6205,-6558,-6886,-7188,-7466,-7721,-7958,-8177,-8381,-8573,-8754,-8926,-9090,-9248,-9399,-9546,-9688,-9827,-9962,-10094,-10224,-10352,-10477,-10600,-10722,-10843,-10962,-11080,-11196,-11312,-11427,-11541,-11655,-11768,-11880,-11992,-12104,-12215,-12326,},
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bwang 48:a1a09c83d42c 97 {-148,-297,-445,-591,-732,-868,-998,-1121,-1238,-1347,-1449,-1545,-1633,-1715,-1791,-1861,-1925,-1984,-2038,-2088,-2133,-2174,-2211,-2244,-2275,-2302,-2327,-2349,-2369,-2386,-2402,-2415,-2427,-2437,-2445,-2452,-2458,-2462,-2466,-2468,-2469,-2469,-2469,-2468,-2467,-2465,-2464,-2462,-2461,-2460,},
bwang 48:a1a09c83d42c 98 {-144,-289,-434,-575,-713,-846,-973,-1094,-1208,-1316,-1416,-1510,-1598,-1679,-1754,-1823,-1886,-1945,-1998,-2047,-2092,-2133,-2170,-2203,-2233,-2261,-2285,-2307,-2327,-2344,-2360,-2373,-2385,-2395,-2403,-2410,-2415,-2420,-2423,-2425,-2426,-2426,-2426,-2425,-2423,-2421,-2419,-2418,-2416,-2415,},
bwang 48:a1a09c83d42c 99 {-140,-282,-422,-561,-695,-825,-949,-1068,-1180,-1285,-1384,-1477,-1563,-1643,-1717,-1785,-1848,-1906,-1959,-2008,-2052,-2092,-2129,-2163,-2193,-2220,-2244,-2266,-2286,-2303,-2319,-2332,-2344,-2353,-2362,-2369,-2374,-2378,-2381,-2383,-2384,-2384,-2383,-2382,-2380,-2378,-2376,-2374,-2372,-2371,},
bwang 48:a1a09c83d42c 100 {-136,-274,-411,-546,-677,-804,-926,-1042,-1152,-1255,-1353,-1444,-1529,-1608,-1681,-1748,-1811,-1868,-1921,-1969,-2013,-2053,-2090,-2123,-2153,-2180,-2205,-2227,-2246,-2263,-2279,-2292,-2303,-2313,-2321,-2328,-2333,-2337,-2340,-2342,-2343,-2343,-2342,-2340,-2338,-2336,-2334,-2331,-2329,-2328,},
bwang 48:a1a09c83d42c 101 {-133,-267,-401,-532,-660,-784,-903,-1017,-1125,-1226,-1322,-1412,-1496,-1573,-1646,-1712,-1774,-1831,-1883,-1931,-1975,-2015,-2051,-2084,-2114,-2141,-2166,-2187,-2207,-2224,-2239,-2253,-2264,-2274,-2282,-2289,-2294,-2298,-2300,-2302,-2303,-2302,-2301,-2299,-2297,-2295,-2292,-2290,-2287,-2286,},
bwang 48:a1a09c83d42c 102 {-129,-260,-390,-519,-644,-765,-881,-993,-1098,-1198,-1292,-1381,-1463,-1540,-1611,-1677,-1738,-1795,-1847,-1894,-1938,-1977,-2014,-2046,-2076,-2103,-2128,-2149,-2169,-2186,-2201,-2214,-2226,-2235,-2243,-2250,-2255,-2259,-2261,-2263,-2263,-2263,-2261,-2259,-2257,-2254,-2251,-2249,-2246,-2244,},
bwang 48:a1a09c83d42c 103 {-126,-253,-380,-505,-628,-746,-860,-969,-1073,-1171,-1263,-1350,-1431,-1507,-1578,-1643,-1703,-1759,-1811,-1858,-1901,-1941,-1977,-2009,-2039,-2066,-2090,-2112,-2131,-2148,-2163,-2177,-2188,-2198,-2206,-2212,-2217,-2221,-2223,-2225,-2225,-2224,-2223,-2220,-2218,-2215,-2212,-2209,-2206,-2204,},
bwang 48:a1a09c83d42c 104 {-123,-247,-371,-493,-612,-728,-839,-946,-1047,-1144,-1235,-1320,-1400,-1475,-1545,-1609,-1669,-1724,-1775,-1822,-1865,-1904,-1940,-1973,-2003,-2029,-2053,-2075,-2094,-2112,-2127,-2140,-2151,-2161,-2169,-2175,-2180,-2184,-2186,-2187,-2187,-2186,-2185,-2182,-2179,-2176,-2173,-2170,-2167,-2164,},
bwang 48:a1a09c83d42c 105 {-120,-241,-361,-480,-597,-710,-819,-923,-1023,-1118,-1207,-1291,-1370,-1444,-1512,-1576,-1636,-1690,-1741,-1787,-1830,-1869,-1905,-1937,-1967,-1993,-2018,-2039,-2058,-2075,-2090,-2104,-2115,-2124,-2132,-2139,-2144,-2147,-2149,-2150,-2150,-2149,-2148,-2145,-2142,-2138,-2135,-2131,-2128,-2125,},
bwang 48:a1a09c83d42c 106 {-117,-234,-352,-468,-582,-692,-799,-901,-999,-1092,-1180,-1263,-1340,-1413,-1481,-1544,-1603,-1657,-1707,-1753,-1796,-1834,-1870,-1902,-1932,-1958,-1982,-2004,-2023,-2040,-2055,-2068,-2079,-2089,-2097,-2103,-2108,-2111,-2114,-2115,-2114,-2113,-2111,-2108,-2105,-2101,-2097,-2094,-2090,-2087,},
bwang 48:a1a09c83d42c 107 {-114,-228,-343,-456,-567,-675,-780,-880,-976,-1067,-1153,-1235,-1311,-1383,-1450,-1512,-1570,-1624,-1674,-1720,-1762,-1800,-1836,-1868,-1897,-1924,-1948,-1969,-1988,-2005,-2020,-2033,-2045,-2054,-2062,-2068,-2073,-2076,-2079,-2079,-2079,-2078,-2075,-2072,-2069,-2065,-2061,-2057,-2053,-2050,},
bwang 48:a1a09c83d42c 108 {-111,-223,-334,-445,-553,-659,-761,-859,-953,-1042,-1127,-1207,-1283,-1354,-1420,-1481,-1539,-1592,-1641,-1687,-1729,-1767,-1802,-1834,-1863,-1890,-1914,-1935,-1954,-1971,-1986,-1999,-2011,-2020,-2028,-2034,-2039,-2042,-2044,-2045,-2044,-2043,-2041,-2037,-2033,-2029,-2025,-2021,-2017,-2013,},
bwang 48:a1a09c83d42c 109 {-108,-217,-326,-434,-539,-642,-742,-839,-931,-1018,-1102,-1181,-1255,-1325,-1390,-1451,-1508,-1560,-1609,-1654,-1696,-1734,-1769,-1801,-1830,-1856,-1880,-1902,-1921,-1938,-1953,-1966,-1977,-1987,-1994,-2001,-2005,-2009,-2010,-2011,-2011,-2009,-2006,-2003,-1999,-1994,-1990,-1985,-1981,-1977,},
bwang 48:a1a09c83d42c 110 {-105,-211,-318,-423,-526,-627,-724,-819,-909,-995,-1077,-1155,-1228,-1296,-1361,-1421,-1477,-1529,-1578,-1623,-1664,-1702,-1737,-1768,-1797,-1824,-1848,-1869,-1888,-1905,-1920,-1933,-1944,-1954,-1962,-1968,-1972,-1976,-1977,-1978,-1977,-1975,-1973,-1969,-1965,-1960,-1955,-1950,-1946,-1942,},
bwang 48:a1a09c83d42c 111 {-102,-206,-310,-412,-513,-611,-707,-799,-888,-972,-1053,-1129,-1201,-1269,-1332,-1392,-1447,-1499,-1547,-1591,-1632,-1670,-1705,-1736,-1765,-1792,-1815,-1837,-1856,-1873,-1888,-1901,-1912,-1921,-1929,-1935,-1940,-1943,-1945,-1945,-1945,-1943,-1940,-1936,-1931,-1926,-1921,-1916,-1911,-1907,},
bwang 48:a1a09c83d42c 112 {-100,-201,-302,-402,-500,-596,-690,-780,-867,-950,-1029,-1104,-1175,-1242,-1304,-1363,-1418,-1469,-1517,-1561,-1601,-1639,-1673,-1705,-1734,-1760,-1784,-1805,-1824,-1841,-1856,-1869,-1880,-1890,-1898,-1904,-1908,-1911,-1913,-1913,-1912,-1910,-1907,-1903,-1898,-1893,-1888,-1882,-1877,-1873,},
bwang 48:a1a09c83d42c 113 {-97,-196,-294,-392,-488,-582,-673,-762,-846,-928,-1005,-1079,-1149,-1215,-1277,-1335,-1389,-1440,-1487,-1531,-1571,-1608,-1642,-1674,-1703,-1729,-1752,-1774,-1793,-1810,-1825,-1838,-1849,-1859,-1866,-1872,-1877,-1880,-1882,-1882,-1881,-1879,-1875,-1871,-1866,-1861,-1855,-1849,-1844,-1839,},
bwang 48:a1a09c83d42c 114 {-95,-191,-287,-382,-476,-568,-657,-743,-827,-906,-983,-1055,-1124,-1189,-1250,-1307,-1361,-1411,-1458,-1501,-1541,-1578,-1612,-1643,-1672,-1698,-1722,-1743,-1762,-1779,-1794,-1807,-1818,-1828,-1836,-1842,-1846,-1849,-1851,-1851,-1850,-1848,-1844,-1840,-1835,-1829,-1823,-1817,-1811,-1806,},
bwang 48:a1a09c83d42c 115 {-92,-186,-280,-372,-464,-554,-641,-726,-807,-885,-960,-1031,-1099,-1163,-1223,-1280,-1333,-1383,-1429,-1472,-1512,-1548,-1582,-1613,-1642,-1668,-1691,-1713,-1732,-1749,-1764,-1777,-1788,-1798,-1806,-1812,-1816,-1819,-1821,-1821,-1820,-1817,-1814,-1809,-1803,-1797,-1791,-1785,-1779,-1773,},
bwang 48:a1a09c83d42c 116 {-90,-181,-273,-363,-452,-540,-625,-708,-788,-865,-938,-1008,-1075,-1138,-1197,-1253,-1306,-1355,-1400,-1443,-1482,-1519,-1553,-1584,-1612,-1638,-1662,-1683,-1702,-1719,-1734,-1747,-1759,-1768,-1776,-1782,-1787,-1790,-1791,-1791,-1790,-1787,-1783,-1779,-1773,-1766,-1760,-1753,-1747,-1741,},
bwang 48:a1a09c83d42c 117 {-88,-177,-266,-354,-441,-527,-610,-691,-769,-845,-917,-986,-1051,-1113,-1172,-1227,-1279,-1327,-1372,-1415,-1454,-1490,-1524,-1555,-1583,-1609,-1632,-1654,-1673,-1690,-1705,-1718,-1729,-1739,-1747,-1753,-1757,-1760,-1762,-1762,-1761,-1758,-1754,-1749,-1743,-1736,-1729,-1722,-1715,-1710,},
bwang 48:a1a09c83d42c 118 {-86,-172,-259,-345,-430,-514,-595,-675,-751,-825,-896,-963,-1028,-1089,-1146,-1201,-1252,-1300,-1345,-1387,-1426,-1462,-1495,-1526,-1554,-1580,-1603,-1625,-1644,-1661,-1676,-1689,-1700,-1710,-1718,-1724,-1729,-1732,-1733,-1733,-1732,-1729,-1725,-1719,-1713,-1706,-1699,-1692,-1685,-1678,},
bwang 48:a1a09c83d42c 119 {-83,-168,-252,-336,-419,-501,-581,-658,-733,-806,-875,-941,-1005,-1065,-1122,-1175,-1226,-1273,-1318,-1359,-1398,-1434,-1467,-1498,-1526,-1551,-1575,-1596,-1615,-1632,-1647,-1661,-1672,-1682,-1690,-1696,-1700,-1703,-1705,-1705,-1703,-1700,-1696,-1691,-1684,-1677,-1669,-1661,-1654,-1648,},
bwang 48:a1a09c83d42c 120 {-81,-164,-246,-328,-409,-489,-566,-642,-716,-787,-855,-920,-982,-1041,-1097,-1150,-1200,-1247,-1291,-1332,-1371,-1406,-1439,-1470,-1498,-1523,-1547,-1568,-1587,-1604,-1619,-1633,-1644,-1654,-1662,-1668,-1673,-1676,-1677,-1677,-1675,-1672,-1668,-1662,-1656,-1648,-1640,-1632,-1624,-1617,},
bwang 48:a1a09c83d42c 121 {-79,-159,-240,-320,-399,-476,-552,-627,-698,-768,-835,-899,-960,-1018,-1073,-1125,-1175,-1221,-1265,-1305,-1343,-1379,-1412,-1442,-1470,-1495,-1519,-1540,-1559,-1576,-1591,-1605,-1616,-1626,-1634,-1640,-1645,-1648,-1650,-1650,-1648,-1645,-1640,-1634,-1627,-1619,-1611,-1603,-1594,-1587,},
bwang 48:a1a09c83d42c 122 {-77,-155,-234,-312,-389,-464,-539,-611,-682,-750,-815,-878,-938,-995,-1050,-1101,-1150,-1196,-1239,-1279,-1317,-1352,-1384,-1415,-1442,-1468,-1491,-1512,-1532,-1549,-1564,-1577,-1589,-1599,-1607,-1613,-1618,-1621,-1623,-1622,-1621,-1618,-1613,-1607,-1600,-1591,-1583,-1574,-1565,-1558,},
bwang 48:a1a09c83d42c 123 {-75,-151,-228,-304,-379,-453,-525,-596,-665,-732,-796,-857,-916,-973,-1026,-1077,-1125,-1170,-1213,-1253,-1290,-1325,-1358,-1388,-1415,-1441,-1464,-1485,-1504,-1522,-1537,-1550,-1562,-1572,-1580,-1587,-1591,-1594,-1596,-1596,-1594,-1591,-1586,-1580,-1572,-1564,-1555,-1545,-1536,-1528,},
bwang 48:a1a09c83d42c 124 {-73,-147,-222,-296,-369,-441,-512,-581,-649,-714,-777,-837,-895,-951,-1003,-1053,-1101,-1146,-1188,-1227,-1264,-1299,-1331,-1361,-1389,-1414,-1437,-1458,-1478,-1495,-1510,-1524,-1535,-1545,-1554,-1560,-1565,-1568,-1570,-1570,-1568,-1565,-1560,-1553,-1545,-1537,-1527,-1517,-1508,-1499,},
bwang 48:a1a09c83d42c 125 };
bwang 48:a1a09c83d42c 126 #endif