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.