_current_control_8h_source.html

 #ifndef CURRENT_CONTROL_H_
 #define CURRENT_CONTROL_H_

 extern void CurrentControlIntHandler(void);

 void PI_controller(int motor, int reference, int actual);

 void setCurrent(int motor, int u);

 void get_mA(void);
 void get_counts(void);


 void get_current_gains(void);

 void set_current_gains(void);


 int getCurrent(int motor);

 void reset_current_error(void);

 void counts_read(void);

 void AD0_read(int mux);


 extern void currentControlInit(void);

 extern void setADCMux(int motor,int number);


 #endif /* CURRENT_CONTROL_H_ */
get_mA
void get_mA(void)
Print the current in mA to UART.
Definition: CurrentControl.c:448

get_counts
void get_counts(void)
Print the current counts to UART.
Definition: CurrentControl.c:464

setADCMux
void setADCMux(int motor, int number)
Sets the ADC MUX to read from either the current sense resistor 1, 2 or 3 from motor 1 or 2...
Definition: CurrentControl.c:481

counts_read
void counts_read(void)
Reads the counts of the current to UART from an array.
Definition: CurrentControl.c:330

currentControlInit
void currentControlInit(void)
Init ADC.
Definition: CurrentControl.c:41

CurrentControlIntHandler
void CurrentControlIntHandler(void)
The interrupt handler for the current control loop.
Definition: CurrentControl.c:88

set_current_gains
void set_current_gains(void)
Sets the current gains by reading the UART buffer.
Definition: CurrentControl.c:281

AD0_read
void AD0_read(int mux)
Triggers the ADC reading and saves it to the TEMP array.
Definition: CurrentControl.c:431

get_current_gains
void get_current_gains(void)
Print the current gains to UART.
Definition: CurrentControl.c:271

reset_current_error
void reset_current_error(void)
Sets the current gains by reading the UART buffer.
Definition: CurrentControl.c:323

PI_controller
void PI_controller(int motor, int reference, int actual)
Simple PI controller that uses motorxControlPWM to control the motor output.
Definition: CurrentControl.c:250

getCurrent
int getCurrent(int motor)
Gets the motor current in counts (12 bit signed)
Definition: CurrentControl.c:308

setCurrent
void setCurrent(int motor, int u)
Sets the reference current for a given motor.
Definition: CurrentControl.c:295