Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: ThrottleMapper/ThrottleMapper.h

Revision:
42:030e0ec4eac5
Child:
50:f508c7860342
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ThrottleMapper/ThrottleMapper.h	Fri Jan 06 07:54:22 2017 +0000
@@ -0,0 +1,22 @@
+#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);
+};
+#endif
\ No newline at end of file