| ... | ... | @@ -183,9 +183,33 @@ This module enables to control the powertrain on the HighDriveUnit featuring two |
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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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This struct contains the dutyCycle of a motor from -100% to 100% related to rotation direction 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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#### void HDU_POWERTRAIN_updateMotorValuesX()
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updates all values in the MotorValues struct for motor A or B.
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#### void HDU_POWERTRAIN_updateMotorValues()
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updates all values in the MotorValues struct for motor A and B.
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#### void HDU_POWERTRAIN_enable()
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enables both motors by setting the enable pin high.
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#### void HDU_POWERTRAIN_disable()
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enables both motors by setting the enable pin low.
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#### HDU_POWERTRAIN_setDutycycleMotX(int dutyCycle)
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sets the dutycycle of motor A or B from -100% to 100% related to rotation direction.
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#### void HDU_POWERTRAIN_setDutycycles(int dutyCycleA, int dutyCycleB)
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sets the dutycytles of motor A and B from -100% to 100% related to rotation direction.
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#### uint16_t HDU_POWERTRAIN_readCsX()
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reads the 16-bit current sense value of motor A or B.
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#### uint16_t HDU_POWERTRAIN_readBemfX()
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reads the 16-bit back emf value of motor A or B.
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## Servo control (HDU_SERVO.h) |
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\ No newline at end of file |
