Driver for the H-bridge of the motor. More...

Functions
void	hb_Init (void)
	Initialize the pins and the PWM timer to control the H-bridge. More...

void	hb_Enable (void)
	Enable the motor driver. More...

void	hb_Disable (void)
	Disable the motor driver. More...

void	hb_SetPWM (float32_t ratio)
	Set the PWM duty. More...

bool	hb_HasFault (void)
	Gets the fault state. Gets the fault state of the H-Bridge from its nFAULT line. A fault may be because of an undervoltage, overcurrent or overtemperature. More...

Detailed Description

Driver for the H-bridge of the motor.

The DC motor is supplied by a H-bridge on the HRI board. These power electronics are controlled by the microcontroller using a PWM timer.

Call hb_Init() first in the initialization code. Then, call hb_Enable() to enable the H-bridge chip (power on), and hb_SetPWM() to set the motor voltage.

Function Documentation

◆ hb_Disable()

void hb_Disable ( void )

Disable the motor driver.

◆ hb_Enable()

void hb_Enable ( void )

Enable the motor driver.

◆ hb_HasFault()

bool hb_HasFault ( void )

Gets the fault state. Gets the fault state of the H-Bridge from its nFAULT line. A fault may be because of an undervoltage, overcurrent or overtemperature.

Returns: true if there is a fault, false otherwise.

◆ hb_Init()

void hb_Init ( void )

Initialize the pins and the PWM timer to control the H-bridge.

◆ hb_SetPWM()

void hb_SetPWM ( float32_t ratio )

Set the PWM duty.

Parameters

ratio PWM duty ("on" time ratio) [-1.0 to 1.0]. 0 means zero voltage at the motor leads, -1 and 1 are max voltages.