controller.c File Reference

#include "controller.h"
#include "communication.h"
#include "drivers/adc.h"
#include "drivers/dac.h"
#include "drivers/debug_gpio.h"
#include "drivers/incr_encoder.h"
#include "drivers/hall.h"
#include "drivers/h_bridge.h"
#include "drivers/callback_timers.h"
#include "lib/basic_filter.h"
#include "lib/pid.h"
#include "lib/utils.h"

Functions
void	ctrl_RegulateCurrent ()
	Current regulation "loop" function. More...
void	ctrl_RegulatePosition ()
	Position regulation "loop" function. More...
void	ctrl_Init (void)
	Initialize the position and current controllers. More...
void	ctrl_StartCurrentLoop (void)
	Start the current regulation. More...

Variables
uint32_t	statusReg
volatile uint32_t	ctrl_timestamp
volatile float32_t	ctrl_hallVoltage
volatile float32_t	ctrl_motorPosCod
volatile float32_t	ctrl_motorTorque_Nm_c
volatile pid_Pid	ctrl_currentPid
bool	ctrl_regulateCurrent

Function Documentation

void ctrl_RegulateCurrent

(

void

)

Current regulation "loop" function.

void ctrl_RegulatePosition

(

)

Position regulation "loop" function.

Note

As an example, a basic position regulator that uses the encoder is implemented. Feel free to remove all the content of the function to add your own code.

Variable Documentation

volatile pid_Pid ctrl_currentPid

volatile float32_t ctrl_hallVoltage

volatile float32_t ctrl_motorPosCod

volatile float32_t ctrl_motorTorque_Nm_c

bool ctrl_regulateCurrent

volatile uint32_t ctrl_timestamp

uint32_t statusReg