Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

FOC/foc.h

Committer:
benkatz
Date:
2017-03-31
Revision:
22:60276ba87ac6
Child:
26:2b865c00d7e9

File content as of revision 22:60276ba87ac6:

#ifndef FOC_H
#define FOC_H

#include "structs.h"
#include "PositionSensor.h"
#include "mbed.h"
#include "hw_config.h"
#include "math.h"
#include "math_ops.h"
#include "motor_config.h"
#include "current_controller_config.h"

void abc(float theta, float d, float q, float *a, float *b, float *c);
void dq0(float theta, float a, float b, float c, float *d, float *q);
void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w);
void zero_current(int *offset_1, int *offset_2);
void reset_foc(ControllerStruct *controller);
void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta);
#endif