Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

FOC/foc.h@26:2b865c00d7e9, 2017-05-01 (annotated)

Committer:
benkatz
Date:
Mon May 01 15:22:58 2017 +0000
Revision:
26:2b865c00d7e9
Parent:
22:60276ba87ac6
Child:
37:c0f352d6e8e3
- Added CAN Send/Receive; - Updated to most recent MBED (Broke SPI 16-bit read/write.  Hacked to work with 2 8-bit writes now); - Removed most sine/cos calculations; - Fixed sign error in autocalibration routine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 #ifndef FOC_H
benkatz 22:60276ba87ac6 2 #define FOC_H
benkatz 22:60276ba87ac6 3
benkatz 22:60276ba87ac6 4 #include "structs.h"
benkatz 22:60276ba87ac6 5 #include "PositionSensor.h"
benkatz 22:60276ba87ac6 6 #include "mbed.h"
benkatz 22:60276ba87ac6 7 #include "hw_config.h"
benkatz 22:60276ba87ac6 8 #include "math.h"
benkatz 22:60276ba87ac6 9 #include "math_ops.h"
benkatz 22:60276ba87ac6 10 #include "motor_config.h"
benkatz 22:60276ba87ac6 11 #include "current_controller_config.h"
benkatz 22:60276ba87ac6 12
benkatz 22:60276ba87ac6 13 void abc(float theta, float d, float q, float *a, float *b, float *c);
benkatz 22:60276ba87ac6 14 void dq0(float theta, float a, float b, float c, float *d, float *q);
benkatz 22:60276ba87ac6 15 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w);
benkatz 22:60276ba87ac6 16 void zero_current(int *offset_1, int *offset_2);
benkatz 22:60276ba87ac6 17 void reset_foc(ControllerStruct *controller);
benkatz 22:60276ba87ac6 18 void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta);
benkatz 26:2b865c00d7e9 19 void torque_control(ControllerStruct *controller);
benkatz 22:60276ba87ac6 20 #endif