#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"
#include "torque_regulator.h"

Macros
#define	KP_CURRENT_DEFAULT_VAL 100.0f

#define	KI_CURRENT_DEFAULT_VAL 500000.0f

#define	KD_CURRENT_DEFAULT_VAL 0.0f

#define	FF_CURRENT_DEFAULT_VAL MOTOR_RESISTANCE

#define	CURRENT_INTEGRATOR_SAT_DEFAULT_VAL 10.0f

#define	CURRENT_LOOP_PWM_MAX_DUTY_CYCLE 0.98f

#define	CURRENT_LOOP_PERIOD 50

#define	SOFTER_PID_DURATION 0.005f

Functions
void	torq_RegulateCurrent ()
	Current regulation "loop" function. More...

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...

Variables
volatile float32_t	torq_targetCurrent

volatile pid_Pid	torq_currentPid

bool	torq_regulateCurrent

float32_t	torq_pidSoftModeTime

Macro Definition Documentation

◆ CURRENT_INTEGRATOR_SAT_DEFAULT_VAL

#define CURRENT_INTEGRATOR_SAT_DEFAULT_VAL 10.0f

◆ CURRENT_LOOP_PERIOD

#define CURRENT_LOOP_PERIOD 50

◆ CURRENT_LOOP_PWM_MAX_DUTY_CYCLE

#define CURRENT_LOOP_PWM_MAX_DUTY_CYCLE 0.98f

◆ FF_CURRENT_DEFAULT_VAL

#define FF_CURRENT_DEFAULT_VAL MOTOR_RESISTANCE

◆ KD_CURRENT_DEFAULT_VAL

#define KD_CURRENT_DEFAULT_VAL 0.0f

◆ KI_CURRENT_DEFAULT_VAL

#define KI_CURRENT_DEFAULT_VAL 500000.0f

◆ KP_CURRENT_DEFAULT_VAL

#define KP_CURRENT_DEFAULT_VAL 100.0f

◆ SOFTER_PID_DURATION

#define SOFTER_PID_DURATION 0.005f

Function Documentation

◆ torq_RegulateCurrent()

void torq_RegulateCurrent ( void )

Current regulation "loop" function.

Variable Documentation

◆ torq_currentPid

volatile pid_Pid torq_currentPid

◆ torq_pidSoftModeTime

float32_t torq_pidSoftModeTime

◆ torq_regulateCurrent

bool torq_regulateCurrent

◆ torq_targetCurrent

volatile float32_t torq_targetCurrent

Macros

Functions

Variables