Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: DQMapper/DQMapper.cpp

Revision:
98:1051c4103900
Parent:
48:a1a09c83d42c
Child:
124:e70ca81676fc
--- a/DQMapper/DQMapper.cpp	Sun Apr 09 23:33:10 2017 +0000
+++ b/DQMapper/DQMapper.cpp	Tue Apr 11 21:51:52 2017 +0000
@@ -55,4 +55,9 @@
     float is = torque_percent * _tmax / _kt;
     *d = (-_lambda + sqrtf(_lambda * _lambda + 8 * (Ld - Lq) * (Ld - Lq) * is * is)) / (4.f * (Ld - Lq));
     *q = sqrtf(is * is - *d * *d);
+}
+
+void AngleMapper::map(float torque_percent, float w, float *d, float *q) {
+    *q = _is * torque_percent * sinf(_theta);
+    *d = _is * torque_percent * cosf(_theta);
 }
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