Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

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Show/hide line numbers ImpedanceController.h Source File

ImpedanceController.h

00001 #ifndef IMPEDANCECONTROLLER_H
00002 #define IMPEDANCECONTROLLER_H
00003 #include "TorqueController.h"
00004 #include "PositionSensor.h"
00005 
00006 class ImpedanceController{
00007     public:
00008         //CurrentRegulator();
00009         ImpedanceController(TorqueController *torqueController, PositionSensor *sensor_pos, PositionSensor *sensor_vel);
00010         virtual void SetImpedance(float K, float B, float ref);
00011     
00012     private:
00013         float reference, _K, _B, output;   //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m)
00014         TorqueController* _torqueController;
00015         PositionSensor* _sensor_pos;
00016         PositionSensor* _sensor_vel;
00017     };
00018     
00019 #endif
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