Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: DQMapper/DQMapper.h
- Revision:
- 42:030e0ec4eac5
- Child:
- 44:3fd6a43b91f0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DQMapper/DQMapper.h Fri Jan 06 07:54:22 2017 +0000 @@ -0,0 +1,23 @@ +#ifndef __DQ_MAPPER_H +#define __DQ_MAPPER_H + +class DQMapper { +public: + virtual void map(float torque_percent, float w, float *d, float *q) = 0; +}; + +class QOnlyMapper : public DQMapper { +public: + QOnlyMapper(float kt, float tmax) {_kt = kt; _tmax = tmax;} + virtual void map(float torque_percent, float w, float *d, float *q) {*d = 0; *q = torque_percent * _tmax / _kt;} +private: + float _kt; + float _tmax; +}; + +class LutMapper : public DQMapper { +public: + virtual void map(float torque_percent, float w, float *d, float *q); +}; + +#endif \ No newline at end of file