Winnie Liu
/
Hobbyking_Cheetah_modify1105
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Dependencies: mbed-dev-f303 FastPWM3
Diff: TorqueController/TorqueController.cpp
- Revision:
- 4:c023f7b6f462
- Child:
- 8:10ae7bc88d6e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/TorqueController/TorqueController.cpp Sat Mar 12 08:04:51 2016 +0000
@@ -0,0 +1,24 @@
+
+//cogging torque and torque ripple compensation will 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