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Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol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Superseded by: https://github.com/bgkatz/motorcontrol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:
48:74a40481740c
Parent:
47:e1196a851f76
Child:
55:c4c9fec8539c
--- a/FOC/foc.h	Wed Dec 05 04:07:46 2018 +0000
+++ b/FOC/foc.h	Sun Mar 03 02:51:51 2019 +0000
@@ -17,8 +17,10 @@
 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 reset_observer(ObserverStruct *observer);
 void init_controller_params(ControllerStruct *controller);
-void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta);
+void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta);
 void torque_control(ControllerStruct *controller);
 void limit_current_ref (ControllerStruct *controller);
+void linearize_dtc(float *dtc);
 #endif