Ben Katz
/
Hobbyking_Cheetah_V1
FOC Implementation for putting multirotor motors in robots
Diff: ImpedanceController/ImpedanceController.h
- Revision:
- 9:d7eb815cb057
- Parent:
- 4:c023f7b6f462
--- a/ImpedanceController/ImpedanceController.h Wed Apr 13 04:09:56 2016 +0000 +++ b/ImpedanceController/ImpedanceController.h Tue May 10 01:15:57 2016 +0000 @@ -1,12 +1,19 @@ - - +#ifndef IMPEDANCECONTROLLER_H +#define IMPEDANCECONTROLLER_H +#include "TorqueController.h" +#include "PositionSensor.h" class ImpedanceController{ public: //CurrentRegulator(); - virtual void SetImpedance(float K, float B, float ); + ImpedanceController(TorqueController *torqueController, PositionSensor *sensor_pos, PositionSensor *sensor_vel); + virtual void SetImpedance(float K, float B, float ref); private: float reference, _K, _B, output; //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m) + TorqueController* _torqueController; + PositionSensor* _sensor_pos; + PositionSensor* _sensor_vel; + }; - }; \ No newline at end of file +#endif \ No newline at end of file