CodeUC HRI2 v2.0 Microcontroller firmware of the board used during the HRI labs.

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Macros | Functions
escon_drive.c File Reference
`#include "escon_drive.h"`
`#include "dac.h"`
`#include "../lib/utils.h"`

## Macros
#define | MOTOR_NOMINAL_CURRENT 2.66f
#define | MOTOR_TORQUE_CONSTANT 0.0243f
#define | ESCON_CURRENT_FACTOR (9.0f/MOTOR_NOMINAL_CURRENT)

## Functions
void | esc_Init (void)
| Intializes the driver. Initializes the driver, and set the motor torque to zero. More...
void | esc_SetTorque (float32_t torque)
| Sets the motor torque. More...

## Macro Definition Documentation

#define ESCON_CURRENT_FACTOR (9.0f/MOTOR_NOMINAL_CURRENT)

#define MOTOR_NOMINAL_CURRENT 2.66f

#define MOTOR_TORQUE_CONSTANT 0.0243f