Chetan Sharma
/
HKCC_Controller_MBed_OS
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Diff: ImpedanceController/ImpedanceController.h
- Revision:
- 20:bf9ea5125d52
- Parent:
- 19:bd10a04eedc2
- Child:
- 21:7d1f0a206668
--- a/ImpedanceController/ImpedanceController.h Tue Feb 14 03:28:16 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,19 +0,0 @@
-#ifndef IMPEDANCECONTROLLER_H
-#define IMPEDANCECONTROLLER_H
-#include "TorqueController.h"
-#include "PositionSensor.h"
-
-class ImpedanceController{
- public:
- //CurrentRegulator();
- ImpedanceController(TorqueController *torqueController, PositionSensor *sensor_pos, PositionSensor *sensor_vel);
- virtual void SetImpedance(float K, float B, float ref);
-
- private:
- float reference, _K, _B, output; //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m)
- TorqueController* _torqueController;
- PositionSensor* _sensor_pos;
- PositionSensor* _sensor_vel;
- };
-
-#endif
\ No newline at end of file