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Oskar Weigl
2017-02-05 04:25:10 +01:00
parent d86f3c4a51
commit 4ca24d89b1
1 changed files with 1 additions and 0 deletions
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MotorControl/low_level.h
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@@ -72,6 +72,7 @@ extern const int num_motors;
/* Exported macro ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
//Note: to control without feed forward, set feed forward terms to 0.0f.
void set_pos_setpoint(Motor_t* motor, float pos_setpoint, float vel_feed_forward, float current_feed_forward);
void set_vel_setpoint(Motor_t* motor, float vel_setpoint, float current_feed_forward);
void set_current_setpoint(Motor_t* motor, float current_setpoint);