Ben Katz
FOC Implementation for putting multirotor motors in robots
ImpedanceController/ImpedanceController.h@4:c023f7b6f462, 2016-03-12 (annotated)
- Committer:
- benkatz
- Date:
- Sat Mar 12 08:04:51 2016 +0000
- Revision:
- 4:c023f7b6f462
- Parent:
- 3:6a0015d88d06
- Child:
- 9:d7eb815cb057
serial debugging;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benkatz | 3:6a0015d88d06 | 1 | |
| benkatz | 3:6a0015d88d06 | 2 | |
| benkatz | 3:6a0015d88d06 | 3 | |
| benkatz | 3:6a0015d88d06 | 4 | class ImpedanceController{ |
| benkatz | 3:6a0015d88d06 | 5 | public: |
| benkatz | 4:c023f7b6f462 | 6 | //CurrentRegulator(); |
| benkatz | 4:c023f7b6f462 | 7 | virtual void SetImpedance(float K, float B, float ); |
| benkatz | 3:6a0015d88d06 | 8 | |
| benkatz | 3:6a0015d88d06 | 9 | private: |
| benkatz | 4:c023f7b6f462 | 10 | float reference, _K, _B, output; //Referene position (rad), motor stiffness (N-m/rad), motor damping (N-m*s/rad), output(N-m) |
| benkatz | 3:6a0015d88d06 | 11 | |
| benkatz | 3:6a0015d88d06 | 12 | }; |