Bayley Wang
/
foc-ed_in_the_bot_compact
robot
DQMapper/DQMapper.h
- Committer:
- bwang
- Date:
- 2017-01-06
- Revision:
- 42:030e0ec4eac5
- Child:
- 44:3fd6a43b91f0
File content as of revision 42:030e0ec4eac5:
#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