Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

TorqueController/TorqueController.cpp

Committer:
benkatz
Date:
2016-10-31
Revision:
14:80ce59119d93
Parent:
8:10ae7bc88d6e

File content as of revision 14:80ce59119d93:


//cogging torque and torque ripple compensation can go here later

#include "CurrentRegulator.h"
#include "TorqueController.h"

TorqueController::TorqueController(float Kt, CurrentRegulator *regulator)
    {
    _CurrentRegulator = regulator;
    _Kt = Kt;
    
    }

void TorqueController::SetTorque(float torque)
    {
        SetCurrent(0, torque/_Kt);
    }

void TorqueController::SetCurrent(float Id, float Iq)
    {
        _CurrentRegulator->UpdateRef(Id, Iq);
        _CurrentRegulator->Commutate();
        
    }