DQMapper.h

00001 #ifndef __DQ_MAPPER_H
00002 #define __DQ_MAPPER_H
00003 
00004 #include "tables.h"
00005 
00006 class DQMapper {
00007 public:
00008     virtual void map(float torque_percent, float w, float *d, float *q) = 0;
00009 };
00010 
00011 class QOnlyMapper : public DQMapper {
00012 public:
00013     QOnlyMapper(float kt, float tmax) {_kt = kt; _tmax = tmax;}
00014     virtual void map(float torque_percent, float w, float *d, float *q) {*d = 0; *q = torque_percent * _tmax / _kt;}
00015 private:
00016     float _kt;
00017     float _tmax;
00018 };
00019 
00020 class LinearNoFWMapper : public DQMapper {
00021 public:
00022     LinearNoFWMapper(float kt, float tmax, float lambda) {_kt = kt; _tmax = tmax; _lambda = lambda;}
00023     virtual void map(float torque_percent, float w, float *d, float *q);
00024 private:
00025     float _kt;
00026     float _tmax;
00027     float _lambda;
00028 };
00029 
00030 class LutMapper : public DQMapper {
00031 public:
00032     virtual void map(float torque_percent, float w, float *d, float *q);
00033 };
00034 
00035 class InterpolatingLutMapper : public DQMapper {
00036 public:
00037     virtual void map(float torque_percent, float w, float *d, float *q);
00038 private:
00039     static float lookup(short table[][COLUMNS], int row, int col);
00040     static float lookup(short *table, int index);
00041     static float interp(float a, float b, float eps);
00042     static float interp(float a, float b, float c, float eps_row, float eps_col);
00043 };
00044 
00045 class AngleMapper : public DQMapper {
00046 public:
00047     AngleMapper(float theta, float is) {_theta = theta; _is = is;}
00048     virtual void map(float torque_percent, float w, float *d, float *q);
00049 private:
00050     float _is;
00051     float _theta;
00052 };
00053 
00054 class DirectMapper : public DQMapper {
00055 public:
00056     DirectMapper(float id, float iq) {_id = id; _iq = iq;}
00057     virtual void map(float torque_percent, float w, float *d, float *q);
00058 private:
00059     float _id, _iq;
00060 };
00061 
00062 class SwapMapper : public DQMapper {
00063 public:
00064     SwapMapper(float id, float iq) {_id = id; _iq = iq;}
00065     virtual void map(float torque_percent, float w, float *d, float *q);
00066 private:
00067     float _id, _iq;
00068 };
00069 
00070 class AutoMapper : public DQMapper {
00071 public:
00072     AutoMapper(float phase_low, float phase_high, float steps, float is) 
00073         {_phase_low = phase_low; _phase_high = phase_high; _steps = steps; _is = is; _theta = _phase_low;}
00074     virtual void map(float torque_percent, float w, float *d, float *q);
00075 private:
00076     float _phase_low, _phase_high, _steps,  _is;
00077     float _theta;
00078 };
00079 
00080 #endif