yezhong yezhong / Motor_DRV8323RH_for_2019-

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: ImpedanceController/ImpedanceController.h

Revision:
4:c023f7b6f462
Parent:
3:6a0015d88d06
Child:
9:d7eb815cb057
--- a/ImpedanceController/ImpedanceController.h	Wed Mar 09 04:00:48 2016 +0000
+++ b/ImpedanceController/ImpedanceController.h	Sat Mar 12 08:04:51 2016 +0000
@@ -3,9 +3,10 @@
 
 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)
+        float reference, _K, _B, output;   //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m)
     
     };
\ No newline at end of file