Main / Controllers

Control the paddle. More...

Functions
void	ctrl_Init (void)
	Initialize the position and current controllers. More...
void	ctrl_StartCurrentLoop (void)
	Start the current regulation. More...

Detailed Description

Control the paddle.

This module is the high-level controller of the board. It runs two "loops" (in fact, functions called periodically by the interrupt of a timer), one to regulate the motor current (ctrl_RegulateCurrent(), high frequency) and another to control the rest (ctrl_RegulatePosition(), lower frequency). The content of ctrl_RegulatePosition() is typically what the user of the board will modify, depending on the selected sensors and control algorithms.

Call ctrl_Init() to setup this module. Its interrupt functions will be called automatically periodically.

Function Documentation

void ctrl_Init

(

void

)

Initialize the position and current controllers.

void ctrl_StartCurrentLoop

(

void

)

Start the current regulation.