Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: DQMapper/DQMapper.h
- Revision:
- 44:3fd6a43b91f0
- Parent:
- 42:030e0ec4eac5
- Child:
- 45:cf8ad81fb0f0
--- a/DQMapper/DQMapper.h Fri Jan 06 09:10:45 2017 +0000 +++ b/DQMapper/DQMapper.h Sun Jan 08 09:03:15 2017 +0000 @@ -15,6 +15,16 @@ float _tmax; }; +class LinearNoFWMapper : public DQMapper { +public: + LinearNoFWMapper(float kt, float tmax, float lambda) {_kt = kt; _tmax = tmax; _lambda = lambda;} + virtual void map(float torque_percent, float w, float *d, float *q); +private: + float _kt; + float _tmax; + float _lamdba; +}; + class LutMapper : public DQMapper { public: virtual void map(float torque_percent, float w, float *d, float *q);