mirror of
https://github.com/rene-dev/stmbl.git
synced 2024-12-20 15:42:18 +00:00
42 lines
884 B
C
42 lines
884 B
C
#include "dc_ttc_comp.h"
|
|
#include "commands.h"
|
|
#include "hal.h"
|
|
#include "math.h"
|
|
#include "defines.h"
|
|
#include "angle.h"
|
|
|
|
HAL_COMP(dc_ttc);
|
|
|
|
// motor values
|
|
HAL_PIN(psi);
|
|
|
|
// torque cmd in
|
|
HAL_PIN(torque);
|
|
|
|
// cur cmd out
|
|
HAL_PIN(cur);
|
|
|
|
static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
|
|
// struct dc_ttc_ctx_t * ctx = (struct dc_ttc_ctx_t *)ctx_ptr;
|
|
struct dc_ttc_pin_ctx_t *pins = (struct dc_ttc_pin_ctx_t *)pin_ptr;
|
|
|
|
float psi_m = MAX(PIN(psi), 0.001);
|
|
float torque = PIN(torque);
|
|
|
|
PIN(cur) = torque / psi_m;
|
|
}
|
|
|
|
hal_comp_t dc_ttc_comp_struct = {
|
|
.name = "dc_ttc",
|
|
.nrt = 0,
|
|
.rt = rt_func,
|
|
.frt = 0,
|
|
.nrt_init = 0,
|
|
.rt_start = 0,
|
|
.frt_start = 0,
|
|
.rt_stop = 0,
|
|
.frt_stop = 0,
|
|
.ctx_size = 0,
|
|
.pin_count = sizeof(struct dc_ttc_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
|
|
};
|