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

torque_regulator.h
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1 /*
2 * Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #ifndef __TORQUE_REGULATOR_H
18 #define __TORQUE_REGULATOR_H
19
20 #include "main.h"
21
34 void torq_Init(void);
35 void torq_StartCurrentLoop(void);
36 void torq_SetTorque(float32_t torque);
37
42 #endif
torq_StartCurrentLoop
void torq_StartCurrentLoop(void)
Start the current regulation.
Definition: torque_regulator.c:77
torq_Init
void torq_Init(void)
Initialize the position and current controllers.
Definition: torque_regulator.c:52
main.h
torq_SetTorque
void torq_SetTorque(float32_t torque)
Sets the target motor torque.
Definition: torque_regulator.c:147