Ben Katz
FOC Implementation for putting multirotor motors in robots
ImpedanceController/ImpedanceController.h@14:80ce59119d93, 2016-10-31 (annotated)
- Committer:
- benkatz
- Date:
- Mon Oct 31 16:48:16 2016 +0000
- Revision:
- 14:80ce59119d93
- Parent:
- 9:d7eb815cb057
Misc. changes. Finally fixed transforms (turns out B and C current measurements were accidentally swapped)
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 9:d7eb815cb057 | 1 | #ifndef IMPEDANCECONTROLLER_H |
| benkatz | 9:d7eb815cb057 | 2 | #define IMPEDANCECONTROLLER_H |
| benkatz | 9:d7eb815cb057 | 3 | #include "TorqueController.h" |
| benkatz | 9:d7eb815cb057 | 4 | #include "PositionSensor.h" |
| benkatz | 3:6a0015d88d06 | 5 | |
| benkatz | 3:6a0015d88d06 | 6 | class ImpedanceController{ |
| benkatz | 3:6a0015d88d06 | 7 | public: |
| benkatz | 4:c023f7b6f462 | 8 | //CurrentRegulator(); |
| benkatz | 9:d7eb815cb057 | 9 | ImpedanceController(TorqueController *torqueController, PositionSensor *sensor_pos, PositionSensor *sensor_vel); |
| benkatz | 9:d7eb815cb057 | 10 | virtual void SetImpedance(float K, float B, float ref); |
| benkatz | 3:6a0015d88d06 | 11 | |
| benkatz | 3:6a0015d88d06 | 12 | private: |
| benkatz | 4:c023f7b6f462 | 13 | float reference, _K, _B, output; //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m) |
| benkatz | 9:d7eb815cb057 | 14 | TorqueController* _torqueController; |
| benkatz | 9:d7eb815cb057 | 15 | PositionSensor* _sensor_pos; |
| benkatz | 9:d7eb815cb057 | 16 | PositionSensor* _sensor_vel; |
| benkatz | 9:d7eb815cb057 | 17 | }; |
| benkatz | 3:6a0015d88d06 | 18 | |
| benkatz | 9:d7eb815cb057 | 19 | #endif |