Shao Rui
/
Motor_for_suojin
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Dependencies: mbed-dev-f303 FastPWM3
Diff: ImpedanceController/ImpedanceController.cpp
- Revision:
- 20:bf9ea5125d52
- Parent:
- 19:bd10a04eedc2
- Child:
- 21:7d1f0a206668
--- a/ImpedanceController/ImpedanceController.cpp Tue Feb 14 03:28:16 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,22 +0,0 @@
-#include "TorqueController.h"
-#include "ImpedanceController.h"
-#include "CurrentRegulator.h"
-#include "PositionSensor.h"
-
-
-ImpedanceController::ImpedanceController(TorqueController *torqueController, PositionSensor *sensor_pos, PositionSensor *sensor_vel){
- _torqueController = torqueController;
- _sensor_pos = sensor_pos;
- _sensor_vel = sensor_vel;
- }
-
- void ImpedanceController::SetImpedance(float K, float B, float ref){
- float position = _sensor_pos->GetMechPosition();
- float velocity = _sensor_vel->GetMechVelocity();
- float error = ref-position;
- float output = K*error + B*velocity;
-
- _torqueController->SetTorque(output);
-
- }
-