Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

TorqueController/TorqueController.h

Committer:
benkatz
Date:
2016-10-31
Revision:
14:80ce59119d93
Parent:
9:d7eb815cb057

File content as of revision 14:80ce59119d93:

#ifndef TORQUECONTROLLER_H
#define TORQUECONTROLLER_H

#include "CurrentRegulator.h"

class TorqueController{
public:
    TorqueController(float Kt, CurrentRegulator *regulator);
    virtual void SetTorque(float torque);

private:    
    virtual void SetCurrent(float Id, float Iq);
    CurrentRegulator* _CurrentRegulator;
    float _Kt;
    };
    
    

#endif