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);
	}