Ikhee Jo
/
T-Motor_AK80_BaseCode
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Dependencies: mbed-dev-f303 FastPWM3
Diff: ImpedanceController/ImpedanceController.cpp
- Revision:
- 9:d7eb815cb057
- Parent:
- 3:6a0015d88d06
- Child:
- 11:c83b18d41e54
--- a/ImpedanceController/ImpedanceController.cpp Wed Apr 13 04:09:56 2016 +0000
+++ b/ImpedanceController/ImpedanceController.cpp Tue May 10 01:15:57 2016 +0000
@@ -1,2 +1,24 @@
+#include "TorqueController.h"
#include "ImpedanceController.h"
+#include "CurrentRegulator.h"
+#include "PositionSensor.h"
+
+ImpedanceController::ImpedanceController(TorqueController *torqueController, PositionSensor *sensor_pos, PositionSensor *sensor_vel){
+ _torqueController = torqueController;
+ _sensor_pos = sensor_pos;
+ _sensor_vel = sensor_vel;
+ }
+
+ void ImpedanceController::SetImpedance(float K, float B, float ref){
+ float position = _sensor_pos->GetMechPosition();
+ float velocity = _sensor_vel->GetMechVelocity();
+ float error = ref-position;
+ float output = K*error + B*velocity;
+
+ _torqueController->SetTorque(output);
+
+
+
+ }
+