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 TorqueController.h Source File

TorqueController.h

00001 #ifndef TORQUECONTROLLER_H
00002 #define TORQUECONTROLLER_H
00003 
00004 #include "CurrentRegulator.h"
00005 
00006 class TorqueController{
00007 public:
00008     TorqueController(float Kt, CurrentRegulator *regulator);
00009     virtual void SetTorque(float torque);
00010 
00011 private:    
00012     virtual void SetCurrent(float Id, float Iq);
00013     CurrentRegulator* _CurrentRegulator;
00014     float _Kt;
00015     };
00016     
00017     
00018 
00019 #endif
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