Chun Feng Huang / CURRENT_CONTROL

Motor current controller

Fork of CURRENT_CONTROL by LDSC_Robotics_TAs

Diff: CURRENT_CONTROL.h

Revision:
6:bae35ca64f10
Parent:
5:7ccd2fb7ce7e
Child:
7:6794cfba3564
--- a/CURRENT_CONTROL.h	Thu Dec 15 22:54:54 2016 +0000
+++ b/CURRENT_CONTROL.h	Thu Dec 15 23:16:09 2016 +0000
@@ -35,7 +35,7 @@
         PWM2
     } PWMIndex;
 
-    CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, PWMIndex pwmIndex, float Kp, float Ki, float Kd, float samplingTime);
+    CURRENT_CONTROL(PinName curChannel, PinName PwmChannel1, PinName PwmChannel2, PWMIndex pwmIndex, float Kp, float Ki, float Kd, float Ka, float samplingTime);
     void SetParams(float Analog2Cur, float angSpeed2BackEmf, float voltage2DutyRatio);
     float saturation(float input_value, float &delta, const float &limit_H, const float &limit_L);
     void Control(float curRef, float speed);