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AP_Curve: made into its own library

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Pat Hickey 2012-10-26 17:39:06 -07:00 committed by Andrew Tridgell
parent 53105efbcd
commit 6a59ad143e
1 changed files with 14 additions and 14 deletions

28
libraries/AP_Common/AP_Curve.h → libraries/AP_Curve/AP_Curve.h
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@ -3,12 +3,12 @@
/// @file AP_Curve.h /// @file AP_Curve.h
/// @brief used to transforms a pwm value to account for the non-linear pwm->thrust values of normal ESC+motors /// @brief used to transforms a pwm value to account for the non-linear pwm->thrust values of normal ESC+motors
#ifndef AP_CURVE #ifndef __AP_CURVE_H__
#define AP_CURVE #define __AP_CURVE_H__
#include <FastSerial.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_HAL.h>
/// @class AP_Curve /// @class AP_Curve
template <class T, uint8_t SIZE> template <class T, uint8_t SIZE>
@ -28,7 +28,7 @@ public:
virtual T get_y( T x ); virtual T get_y( T x );
// displays the contents of the curve (for debugging) // displays the contents of the curve (for debugging)
virtual void dump_curve(); virtual void dump_curve(AP_HAL::BetterStream*);
protected: protected:
uint8_t _num_points; // number of points in the cruve uint8_t _num_points; // number of points in the cruve
@ -127,18 +127,18 @@ T AP_Curve<T,SIZE>::get_y( T x )
// displays the contents of the curve (for debugging) // displays the contents of the curve (for debugging)
template <class T, uint8_t SIZE> template <class T, uint8_t SIZE>
void AP_Curve<T,SIZE>::dump_curve() void AP_Curve<T,SIZE>::dump_curve(AP_HAL::BetterStream* s)
{ {
Serial.println_P(PSTR("Curve:")); s->println_P(PSTR("Curve:"));
for( uint8_t i = 0; i<_num_points; i++ ){ for( uint8_t i = 0; i<_num_points; i++ ){
Serial.print_P(PSTR("x:")); s->print_P(PSTR("x:"));
Serial.print(_x[i]); s->print(_x[i]);
Serial.print_P(PSTR("\ty:")); s->print_P(PSTR("\ty:"));
Serial.print(_y[i]); s->print(_y[i]);
Serial.print_P(PSTR("\tslope:")); s->print_P(PSTR("\tslope:"));
Serial.print(_slope[i],4); s->print(_slope[i],4);
Serial.println(); s->println();
} }
} }
#endif // AP_CURVE #endif // __AP_CURVE_H__