Chetan Sharma / Mbed OS HKCC_Controller_MBed_OS

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Dependencies:   FastPWM3

ImpedanceController/ImpedanceController.h

Committer:
benkatz
Date:
2016-03-12
Revision:
4:c023f7b6f462
Parent:
3:6a0015d88d06
Child:
9:d7eb815cb057

File content as of revision 4:c023f7b6f462:




class ImpedanceController{
    public:
        //CurrentRegulator();
        virtual void SetImpedance(float K, float B, float );
    
    private:
        float reference, _K, _B, output;   //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m)
    
    };