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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
22:60276ba87ac6
Child:
26:2b865c00d7e9
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FOC/foc.h	Fri Mar 31 18:24:46 2017 +0000
@@ -0,0 +1,19 @@
+#ifndef FOC_H
+#define FOC_H
+
+#include "structs.h"
+#include "PositionSensor.h"
+#include "mbed.h"
+#include "hw_config.h"
+#include "math.h"
+#include "math_ops.h"
+#include "motor_config.h"
+#include "current_controller_config.h"
+
+void abc(float theta, float d, float q, float *a, float *b, float *c);
+void dq0(float theta, float a, float b, float c, float *d, float *q);
+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 commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta);
+#endif