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

Functions
Driver / External motorboard

Driver for an external motorboard. More...

## Functions
void | emot_Init (void)
| Initializes the motorboard driver. More...
void | emot_SetTorque (float32_t torque)
| Set the motor torque. More...
float32_t | emot_GetPosition (void)
| Gets the current motor shaft position. More...

## Detailed Description

Driver for an external motorboard.

This driver controls an external motorboard, controlled through a serial link. This allows driving larger motors.

Call emot_Init() first in the initialization code. Then, call emot_SetTorque() to set the motor torque, and emot_GetPosition() to get the motor shaft position.

## Function Documentation

## ◆ emot_GetPosition()

float32_t emot_GetPosition | ( | void |  | ) |

Gets the current motor shaft position.

Returns
  the motor position given by the encoder [deg].

## ◆ emot_Init()

void emot_Init | ( | void |  | ) |

Initializes the motorboard driver.

## ◆ emot_SetTorque()

void emot_SetTorque | ( | float32_t | torque | ) |

Set the motor torque.

Parameters

  torque | the torque the motor should apply [N.m].