Ben Katz
FOC Implementation for putting multirotor motors in robots
TorqueController/TorqueController.h@4:c023f7b6f462, 2016-03-12 (annotated)
- Committer:
- benkatz
- Date:
- Sat Mar 12 08:04:51 2016 +0000
- Revision:
- 4:c023f7b6f462
- Child:
- 9:d7eb815cb057
serial debugging;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 4:c023f7b6f462 | 1 | #ifndef CURRENTRETULATOR_H |
| benkatz | 4:c023f7b6f462 | 2 | #define CURRENTREGULATOR_H |
| benkatz | 4:c023f7b6f462 | 3 | |
| benkatz | 4:c023f7b6f462 | 4 | class TorqueController{ |
| benkatz | 4:c023f7b6f462 | 5 | public: |
| benkatz | 4:c023f7b6f462 | 6 | TorqueController(float Kt, CurrentRegulator *regulator); |
| benkatz | 4:c023f7b6f462 | 7 | virtual void SetTorque(float torque); |
| benkatz | 4:c023f7b6f462 | 8 | |
| benkatz | 4:c023f7b6f462 | 9 | private: |
| benkatz | 4:c023f7b6f462 | 10 | virtual void SetCurrent(float Id, float Iq); |
| benkatz | 4:c023f7b6f462 | 11 | CurrentRegulator* _CurrentRegulator; |
| benkatz | 4:c023f7b6f462 | 12 | float _Kt; |
| benkatz | 4:c023f7b6f462 | 13 | }; |
| benkatz | 4:c023f7b6f462 | 14 | |
| benkatz | 4:c023f7b6f462 | 15 | |
| benkatz | 4:c023f7b6f462 | 16 | |
| benkatz | 4:c023f7b6f462 | 17 | #endif |