Chetan Sharma / Mbed OS 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.

Dependencies:   FastPWM3

ImpedanceController/ImpedanceController.h

Committer:
benkatz
Date:
2017-02-14
Revision:
19:bd10a04eedc2
Parent:
9:d7eb815cb057

File content as of revision 19:bd10a04eedc2:

#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