Chetan Sharma / Mbed OS HKCC_Controller_MBed_OS

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Dependencies:   FastPWM3

Diff: ImpedanceController/ImpedanceController.h

Revision:
9:d7eb815cb057
Parent:
4:c023f7b6f462
--- a/ImpedanceController/ImpedanceController.h	Wed Apr 13 04:09:56 2016 +0000
+++ b/ImpedanceController/ImpedanceController.h	Tue May 10 01:15:57 2016 +0000
@@ -1,12 +1,19 @@
-
-
+#ifndef IMPEDANCECONTROLLER_H
+#define IMPEDANCECONTROLLER_H
+#include "TorqueController.h"
+#include "PositionSensor.h"
 
 class ImpedanceController{
     public:
         //CurrentRegulator();
-        virtual void SetImpedance(float K, float B, float );
+        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;
+    };
     
-    };
\ No newline at end of file
+#endif
\ No newline at end of file