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

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Functions
Main / Controllers

Control the paddle. More...

## Functions
void | ctrl_Init (void)
| Initialize the position and current controllers. More...
void | ctrl_StartCurrentLoop (void)
| Start the current regulation. More...

## Detailed Description

Control the paddle.

This module is the high-level controller of the board. It runs two "loops" (in fact, functions called periodically by the interrupt of a timer), one to regulate the motor current (ctrl_RegulateCurrent(), high frequency) and another to control the rest (ctrl_RegulatePosition(), lower frequency). The content of ctrl_RegulatePosition() is typically what the user of the board will modify, depending on the selected sensors and control algorithms.

Call ctrl_Init() to setup this module. Its interrupt functions will be called automatically periodically.

## Function Documentation

void ctrl_Init | ( | void |  | ) |

Initialize the position and current controllers.

void ctrl_StartCurrentLoop | ( | void |  | ) |

Start the current regulation.