torque_regulator.h
No OneTemporary
Actions

Subscribers

None

File Metadata

This document is not UTF8. It was detected as Shift JIS and converted to UTF8 for display.

	/*
	* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Syst鑪es Robotiques).
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	#ifndef __TORQUE_REGULATOR_H
	#define __TORQUE_REGULATOR_H

	#include "main.h"

	/** @defgroup TorqueRegulator Main / Torque Regulator
	* @brief Sets the desired motor, by controlling the current.
	*
	* Call torq_Init() to setup this module. Its interrupt function will be called
	* automatically periodically. Then, call torq_StartCurrentLoop() when the
	* current sensor is calibrated. torq_SetTorque() can now be called at any time
	* to set the target torque.
	*
	* @addtogroup TorqueRegulator
	* @{
	*/

	void torq_Init(void);
	void torq_StartCurrentLoop(void);
	void torq_SetTorque(float32_t torque);

	/**
	* @}
	*/

	#endif