HRI board firmware v2.1 Microcontroller firmware of the board used during the HRI labs.

Functions
Main / Haptic controller

Main haptic paddle controller. More...

## Functions
void | hapt_Init (void)
| Initializes the haptic controller. More...

## Detailed Description

Main haptic paddle controller.

This module is the high-level controller of the board. Basically, its role is to process the sensors data and then compute a motor torque, in order to achieve a spicific haptic effect.

The content of hapt_Update() is typically what the user of the board will modify, depending on the selected sensors and control algorithms.

Call hapt_Init() to setup this module. Its interrupt function will be called automatically periodically.

## Function Documentation

## ◆ hapt_Init()

void hapt_Init | ( | void |  | ) |

Initializes the haptic controller.