Driver / External motorboard

Driver for an external motorboard. More...

Functions
void	emot_Init (void)
	Initializes the motorboard driver. More...
void	emot_SetTorque (float32_t torque)
	Set the motor torque. More...
float32_t	emot_GetPosition (void)
	Gets the current motor shaft position. More...

Detailed Description

Driver for an external motorboard.

This driver controls an external motorboard, controlled through a serial link. This allows driving larger motors.

Call emot_Init() first in the initialization code. Then, call emot_SetTorque() to set the motor torque, and emot_GetPosition() to get the motor shaft position.

Function Documentation

emot_GetPosition()

float32_t emot_GetPosition

(

void

)

Gets the current motor shaft position.

Returns

the motor position given by the encoder [deg].

emot_Init()

void emot_Init

(

void

)

Initializes the motorboard driver.

emot_SetTorque()

void emot_SetTorque

(

float32_t

torque

)

Set the motor torque.

Parameters

torque

the torque the motor should apply [N.m].