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

Macros | Functions | Variables
haptic_controller.c File Reference
`#include "haptic_controller.h"`
`#include "communication.h"`
`#include "drivers/adc.h"`
`#include "drivers/incr_encoder.h"`
`#include "drivers/hall.h"`
`#include "drivers/callback_timers.h"`
`#include "lib/utils.h"`
`#include "torque_regulator.h"`

## Macros
#define | DEFAULT_HAPTIC_CONTROLLER_PERIOD 350

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

## Variables
volatile uint32_t | hapt_timestamp
volatile float32_t | hapt_hallVoltage
volatile float32_t | hapt_encoderPaddleAngle
volatile float32_t | hapt_motorTorque

## Macro Definition Documentation

## ◆ DEFAULT_HAPTIC_CONTROLLER_PERIOD

#define DEFAULT_HAPTIC_CONTROLLER_PERIOD 350

## Function Documentation

## ◆ hapt_Update()

void hapt_Update | ( | void |  | ) |

Updates the haptic controller state.

## Variable Documentation

## ◆ hapt_encoderPaddleAngle

volatile float32_t hapt_encoderPaddleAngle

## ◆ hapt_hallVoltage

volatile float32_t hapt_hallVoltage

## ◆ hapt_motorTorque

volatile float32_t hapt_motorTorque

## ◆ hapt_timestamp

volatile uint32_t hapt_timestamp