Diff: DQMapper/DQMapper.cpp

Revision:

48:a1a09c83d42c

Parent:

45:cf8ad81fb0f0

Child:

98:1051c4103900

--- a/DQMapper/DQMapper.cpp	Tue Jan 10 05:35:24 2017 +0000
+++ b/DQMapper/DQMapper.cpp	Fri Jan 13 08:07:34 2017 +0000
@@ -4,35 +4,50 @@
 #include "config_motor.h"
 #include "config_table.h"
 
-#include "dtab_n_w25.h"
-#include "dtab_p_w25.h"
-#include "qtab_n_w25.h"
-#include "qtab_p_w25.h"
+#include "ndtab.h"
+#include "nqtab.h"
+#include "pdtab.h"
+#include "pqtab.h"
+#include "zdtab.h"
+#include "zqtab.h"
 
 void LutMapper::map(float torque_percent, float w, float *d, float *q) {
     w *= POLE_PAIRS;
+    bool neg = false;
+    
     if (w < 0.f) {
         w = -w;
         torque_percent = -torque_percent;
+        neg = true;
     }
-    if (torque_percent > 0) {
+    if (fabs(torque_percent) < 0.02f) {
+        int index = (int) (w / W_STEP);
+        if (index >= ROWS) index = ROWS - 1;
+        
+        *d = (float) zdtab[index] / 128.f;
+        *q = (float) zqtab[index] / 128.f;
+    } else if (torque_percent >= 0.02f) {
         int row = (int) (w / W_STEP);
-        int col = (int) (torque_percent * COLUMNS);
+        int col = (int) ((torque_percent - 0.02f) * COLUMNS);
         
         if (row >= ROWS) row = ROWS - 1;
         if (col >= COLUMNS) col = COLUMNS - 1;
         
-        *d = (float) dtab_p_w25[row][col] / 128.f;
-        *q = (float) qtab_p_w25[row][col] / 128.f; 
+        *d = (float) pdtab[row][col] / 128.f;
+        *q = (float) pqtab[row][col] / 128.f;
     } else {
         int row = (int) (w / W_STEP);
-        int col = (int) (-torque_percent * COLUMNS);
+        int col = (int) ((-torque_percent - 0.02f) * COLUMNS);
         
         if (row >= ROWS) row = ROWS - 1;
         if (col >= COLUMNS) col = COLUMNS - 1;
         
-        *d = (float) dtab_n_w25[row][col] / 128.f;
-        *q = (float) qtab_n_w25[row][col] / 128.f;
+        *d = (float) ndtab[row][col] / 128.f;
+        *q = (float) nqtab[row][col] / 128.f;
+    }
+    
+    if (neg) {
+        *q = -*q;
     }
 }