Ben Katz
FOC Implementation for putting multirotor motors in robots
TorqueController/TorqueController.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 TORQUECONTROLLER_H |
| benkatz | 9:d7eb815cb057 | 2 | #define TORQUECONTROLLER_H |
| benkatz | 9:d7eb815cb057 | 3 | |
| benkatz | 9:d7eb815cb057 | 4 | #include "CurrentRegulator.h" |
| benkatz | 4:c023f7b6f462 | 5 | |
| benkatz | 4:c023f7b6f462 | 6 | class TorqueController{ |
| benkatz | 4:c023f7b6f462 | 7 | public: |
| benkatz | 4:c023f7b6f462 | 8 | TorqueController(float Kt, CurrentRegulator *regulator); |
| benkatz | 4:c023f7b6f462 | 9 | virtual void SetTorque(float torque); |
| benkatz | 4:c023f7b6f462 | 10 | |
| benkatz | 4:c023f7b6f462 | 11 | private: |
| benkatz | 4:c023f7b6f462 | 12 | virtual void SetCurrent(float Id, float Iq); |
| benkatz | 4:c023f7b6f462 | 13 | CurrentRegulator* _CurrentRegulator; |
| benkatz | 4:c023f7b6f462 | 14 | float _Kt; |
| benkatz | 4:c023f7b6f462 | 15 | }; |
| benkatz | 4:c023f7b6f462 | 16 | |
| benkatz | 4:c023f7b6f462 | 17 | |
| benkatz | 4:c023f7b6f462 | 18 | |
| benkatz | 4:c023f7b6f462 | 19 | #endif |