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57 lines
2.0 KiB
57 lines
2.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AP_Curve.h |
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/// @brief used to transforms a pwm value to account for the non-linear pwm->thrust values of normal ESC+motors |
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#ifndef __AP_CURVE_H__ |
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#define __AP_CURVE_H__ |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_HAL.h> |
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/// @class AP_Curve |
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template <class T, uint8_t SIZE> |
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class AP_Curve { |
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public: |
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// Constructor |
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AP_Curve(); |
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// clear - removes all points from the curve |
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virtual void clear(); |
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// add_point - adds a point to the curve. returns TRUE if successfully added |
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virtual bool add_point( T x, T y ); |
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// get_y - returns the point on the curve at the given pwm_value (i.e. the new modified pwm_value) |
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virtual T get_y( T x ); |
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// displays the contents of the curve (for debugging) |
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virtual void dump_curve(AP_HAL::BetterStream*); |
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protected: |
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uint8_t _num_points; // number of points in the cruve |
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T _x[SIZE]; // x values of each point on the curve |
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T _y[SIZE]; // y values of each point on the curve |
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float _slope[SIZE]; // slope between any two points. i.e. slope[0] is the slope between points 0 and 1 |
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bool _constrained; // if true, first and last points added will constrain the y values returned by get_y function |
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}; |
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/* Typedefs for template instansations of AP_Curve. |
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* Only use the AP_Curve instances listed here! |
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* If you need a different one, you must first instantiate the template at the |
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* end of AP_Curve.cpp, then add a typedef here. We can't leave the whole |
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* template implementation in the header due to PSTR related issues. |
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*/ |
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typedef AP_Curve<int16_t,3> AP_CurveInt16_Size3; |
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typedef AP_Curve<int16_t,4> AP_CurveInt16_Size4; |
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typedef AP_Curve<int16_t,5> AP_CurveInt16_Size5; |
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typedef AP_Curve<uint16_t,3> AP_CurveUInt16_Size3; |
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typedef AP_Curve<uint16_t,4> AP_CurveUInt16_Size4; |
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typedef AP_Curve<uint16_t,5> AP_CurveUInt16_Size5; |
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#endif // __AP_CURVE_H__
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