Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol
Dependencies: mbed-dev-f303 FastPWM3
Superseded by: https://github.com/bgkatz/motorcontrol
structs.h
- Committer:
- benkatz
- Date:
- 2018-04-13
- Revision:
- 37:c0f352d6e8e3
- Parent:
- 34:51647c6c500d
- Child:
- 45:26801179208e
File content as of revision 37:c0f352d6e8e3:
#ifndef STRUCTS_H #define STRUCTS_H //#include "CANnucleo.h" #include "mbed.h" #include "FastPWM.h" typedef struct{ DigitalOut *enable; DigitalOut *led; FastPWM *pwm_u, *pwm_v, *pwm_w; } GPIOStruct; typedef struct{ }COMStruct; typedef struct{ int adc1_raw, adc2_raw, adc3_raw; float i_a, i_b, i_c; float v_bus; float theta_mech, theta_elec; float dtheta_mech, dtheta_elec, dtheta_elec_filt; float i_d, i_q, i_q_filt; float v_d, v_q; float dtc_u, dtc_v, dtc_w; float v_u, v_v, v_w; float d_int, q_int; int adc1_offset, adc2_offset; float i_d_ref, i_q_ref; int loop_count; int timeout; int mode; int ovp_flag; float p_des, v_des, kp, kd, t_ff; float cogging[128]; } ControllerStruct; typedef struct{ float theta_m, theta_est; float thetadot_m, thetadot_est; float i_d_m, i_d_est; float i_q_m, i_q_est; float i_d_dot, i_q_dot; float e_d, e_q; float e_d_int, e_q_int; } ObserverStruct; #endif