ROBOSTEP_5期 / Hobbyking_Cheetah_Compact_DRV8323

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: CurrentRegulator/CurrentRegulator.h

Revision:
11:c83b18d41e54
Parent:
10:370851e6e132
Child:
12:c473a25f54f7
--- a/CurrentRegulator/CurrentRegulator.h	Thu May 12 05:02:52 2016 +0000
+++ b/CurrentRegulator/CurrentRegulator.h	Sun May 22 00:14:59 2016 +0000
@@ -11,6 +11,7 @@
         void UpdateRef(float D, float Q);
         void Commutate();
         void Reset();
+        virtual float GetQ();
     private:
         float IQ_Ref, ID_Ref, V_Q, V_D, V_Alpha, V_Beta, V_A, V_B, V_C, I_Q, I_D, I_A, I_B, I_C, I_Alpha, I_Beta, theta_elec, _Kp, _Ki;
         float Q_Integral, D_Integral, Q_Error, D_Error, Int_Max, DTC_Max, Q_Max;