Ben Katz
FOC Implementation for putting multirotor motors in robots
ImpedanceController/ImpedanceController.h@3:6a0015d88d06, 2016-03-09 (annotated)
- Committer:
- benkatz
- Date:
- Wed Mar 09 04:00:48 2016 +0000
- Revision:
- 3:6a0015d88d06
- Child:
- 4:c023f7b6f462
more motter;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 3:6a0015d88d06 | 1 | |
| benkatz | 3:6a0015d88d06 | 2 | |
| benkatz | 3:6a0015d88d06 | 3 | |
| benkatz | 3:6a0015d88d06 | 4 | class ImpedanceController{ |
| benkatz | 3:6a0015d88d06 | 5 | public: |
| benkatz | 3:6a0015d88d06 | 6 | |
| benkatz | 3:6a0015d88d06 | 7 | |
| benkatz | 3:6a0015d88d06 | 8 | private: |
| benkatz | 3:6a0015d88d06 | 9 | float reference, K, B, output; //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m) |
| benkatz | 3:6a0015d88d06 | 10 | |
| benkatz | 3:6a0015d88d06 | 11 | }; |