catchrobo2022
/
CatchroboJointController
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Diff: TorqueController/TorqueController.cpp
- Revision:
- 20:bf9ea5125d52
- Parent:
- 19:bd10a04eedc2
- Child:
- 21:7d1f0a206668
--- a/TorqueController/TorqueController.cpp Tue Feb 14 03:28:16 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,24 +0,0 @@
-
-//cogging torque and torque ripple compensation can go here later
-
-#include "CurrentRegulator.h"
-#include "TorqueController.h"
-
-TorqueController::TorqueController(float Kt, CurrentRegulator *regulator)
- {
- _CurrentRegulator = regulator;
- _Kt = Kt;
-
- }
-
-void TorqueController::SetTorque(float torque)
- {
- SetCurrent(0, torque/_Kt);
- }
-
-void TorqueController::SetCurrent(float Id, float Iq)
- {
- _CurrentRegulator->UpdateRef(Id, Iq);
- _CurrentRegulator->Commutate();
-
- }
\ No newline at end of file