42 lines
909 B
C++
42 lines
909 B
C++
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/*
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* FrictionCompensationProcess.cpp
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*
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* Created on: 31 мая 2020 г.
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* Author: LeonidTitov
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*/
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#include "FrictionCompensationAsync.hh"
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void processing::acs::FrictionCompensationAsync::set(
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TypeInput speed_stp ) {
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torque_feedforward = compensator.update(speed_stp);
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output->set(torque_feedforward);
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}
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processing::acs::FrictionCompensationAsync::TypeOutput processing::acs::FrictionCompensationAsync::get() const {
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return torque_feedforward;
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}
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void processing::acs::FrictionCompensationAsync::set_output(
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SetInterface * new_output ) {
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output = new_output;
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}
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void processing::acs::FrictionCompensationAsync::reset() {
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output->set( TypeInput( 0.0f, 0.0f ) );
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}
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processing::acs::FrictionCompensationAsync::FrictionCompensationAsync(
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Compensator & compensator ) : compensator(compensator), output(nullptr), torque_feedforward(0.0f, 0.0f) {}
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