Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

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Show/hide line numbers TorqueController.cpp Source File

TorqueController.cpp

00001 
00002 //cogging torque and torque ripple compensation can go here later
00003 
00004 #include "CurrentRegulator.h"
00005 #include "TorqueController.h"
00006 
00007 TorqueController::TorqueController(float Kt, CurrentRegulator *regulator)
00008     {
00009     _CurrentRegulator = regulator;
00010     _Kt = Kt;
00011     
00012     }
00013 
00014 void TorqueController::SetTorque(float torque)
00015     {
00016         SetCurrent(0, torque/_Kt);
00017     }
00018 
00019 void TorqueController::SetCurrent(float Id, float Iq)
00020     {
00021         _CurrentRegulator->UpdateRef(Id, Iq);
00022         _CurrentRegulator->Commutate();
00023         
00024     }
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