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

Functions
Main / Torque Regulator

Sets the desired motor, by controlling the current. More...

## Functions
void | torq_Init (void)
| Initialize the position and current controllers. More...
void | torq_StartCurrentLoop (void)
| Start the current regulation. More...
void | torq_SetTorque (float32_t torque)
| Sets the target motor torque. More...

## Detailed Description

Sets the desired motor, by controlling the current.

Call torq_Init() to setup this module. Its interrupt function will be called automatically periodically. Then, call torq_StartCurrentLoop() when the current sensor is calibrated. torq_SetTorque() can now be called at any time to set the target torque.

## Function Documentation

## ◆ torq_Init()

void torq_Init | ( | void |  | ) |

Initialize the position and current controllers.

## ◆ torq_SetTorque()

void torq_SetTorque | ( | float32_t | torque | ) |

Sets the target motor torque.

Parameters

  torque | target motor torque [N.m].

Remarks
  The given value will be saturated to the motor torque, if larger.

## ◆ torq_StartCurrentLoop()

void torq_StartCurrentLoop | ( | void |  | ) |

Start the current regulation.