Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: DQMapper/DQMapper.h
- Revision:
- 124:e70ca81676fc
- Parent:
- 98:1051c4103900
- Child:
- 160:6948bb7bcabd
diff -r d81d91c9abe8 -r e70ca81676fc DQMapper/DQMapper.h --- a/DQMapper/DQMapper.h Fri Apr 28 01:11:04 2017 +0000 +++ b/DQMapper/DQMapper.h Sun Apr 30 03:46:34 2017 +0000 @@ -39,4 +39,20 @@ float _theta; }; +class DirectMapper : public DQMapper { +public: + DirectMapper(float id, float iq) {_id = id; _iq = iq;} + virtual void map(float torque_percent, float w, float *d, float *q); +private: + float _id, _iq; +}; + +class SwapMapper : public DQMapper { +public: + SwapMapper(float id, float iq) {_id = id; _iq = iq;} + virtual void map(float torque_percent, float w, float *d, float *q); +private: + float _id, _iq; +}; + #endif \ No newline at end of file