escon_drive.c
a7bbe407cd7dhri-gen2

escon_drive.c
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			#include "escon_drive.h"
			#include "dac.h"
			#include "../lib/utils.h"

			// Motors parameters for the maxon EC-max 30mm 24V.
			#define MOTOR_NOMINAL_CURRENT 2.66f // [A].
			#define MOTOR_TORQUE_CONSTANT 0.0243f // [N.m/A].

			#define ESCON_CURRENT_FACTOR (9.0f/MOTOR_NOMINAL_CURRENT) // [V/A].

			/**
			* @brief Intializes the driver.
			* Initializes the driver, and set the motor torque to zero.
			*/
			void esc_Init(void)
			{
			// Set the motor torque to zero.
			dac_SetVoltage1(0.0f);
			}

			/**
			* @brief Sets the motor torque.
			* @param torque the torque to set [N.m]. If larger than the nominal torque, it
			* will be saturated to the nominal torque.
			*/
			void esc_SetTorque(float32_t torque)
			{
			// Compute the motor current.
			float32_t motorCurrent = torque / MOTOR_TORQUE_CONSTANT; // [A].

			utils_SaturateF(&motorCurrent,
			-MOTOR_NOMINAL_CURRENT, MOTOR_NOMINAL_CURRENT);

			// Compute the equivalent voltage.
			dac_SetVoltage1(motorCurrent * ESCON_CURRENT_FACTOR);
			}