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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol

Diff: FOC/foc.h

Revision:
45:26801179208e
Parent:
37:c0f352d6e8e3
Child:
47:e1196a851f76
--- a/FOC/foc.h	Mon Jun 11 00:04:06 2018 +0000
+++ b/FOC/foc.h	Wed Jun 27 03:44:44 2018 +0000
@@ -17,6 +17,8 @@
 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w);
 void zero_current(int *offset_1, int *offset_2);
 void reset_foc(ControllerStruct *controller);
+void init_controller_params(ControllerStruct *controller);
 void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta);
 void torque_control(ControllerStruct *controller);
+void limit_current_ref (ControllerStruct *controller);
 #endif