Ben Katz
/
Hobbyking_Cheetah_V1
FOC Implementation for putting multirotor motors in robots
ImpedanceController/ImpedanceController.h
- Committer:
- benkatz
- Date:
- 2016-10-31
- Revision:
- 14:80ce59119d93
- Parent:
- 9:d7eb815cb057
File content as of revision 14:80ce59119d93:
#ifndef IMPEDANCECONTROLLER_H #define IMPEDANCECONTROLLER_H #include "TorqueController.h" #include "PositionSensor.h" class ImpedanceController{ public: //CurrentRegulator(); 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; }; #endif