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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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@37:c0f352d6e8e3, 2018-04-13 (annotated)

Committer:
benkatz
Date:
Fri Apr 13 13:50:54 2018 +0000
Revision:
37:c0f352d6e8e3
Parent:
26:2b865c00d7e9
Child:
45:26801179208e
always samples position sensor

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 37:c0f352d6e8e3 12 #include "FastMath.h"
benkatz 37:c0f352d6e8e3 13 #include "user_config.h"
benkatz 22:60276ba87ac6 14
benkatz 22:60276ba87ac6 15 void abc(float theta, float d, float q, float *a, float *b, float *c);
benkatz 22:60276ba87ac6 16 void dq0(float theta, float a, float b, float c, float *d, float *q);
benkatz 22:60276ba87ac6 17 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w);
benkatz 22:60276ba87ac6 18 void zero_current(int *offset_1, int *offset_2);
benkatz 22:60276ba87ac6 19 void reset_foc(ControllerStruct *controller);
benkatz 37:c0f352d6e8e3 20 void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta);
benkatz 26:2b865c00d7e9 21 void torque_control(ControllerStruct *controller);
benkatz 22:60276ba87ac6 22 #endif