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</code>
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## Powertrain control (HDU_POWERTRAIN.h)
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This module enables to control the powertrain on the HighDriveUnit featuring two dc motors. TPM0 channel 0-4 is used for PWM generation.
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### Module documentation
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#### typedef struct HDU_POWERTRAIN_MotorValues
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This struct contains the dutyCycle of a motor from -100% to 100% and the 16-bit ADC values for currentSense and backEMF. There is one instance for each motor.
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#### void HDU_POWERTRAIN_init(uint32_t frequencyHz)
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initializes the powertrain with a pwm frequency in Hz (about 3 kHz recommended). Both motors will be enabled during initialization.
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## Servo control (HDU_SERVO.h) |
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\ No newline at end of file |
