IIT-SAE-ECU/_motor_control_8h_source.html

#ifndef __ECU_MOTORCONTROL_H__

#define __ECU_MOTORCONTROL_H__


#include "Canbus.h"

#include "Heartbeat.h"

#include "stdint.h"


namespace MC {


#define CONF_MAXIMUM_SWITCHING_SPEED 5


void setup(void);


void setupBuffers(void);


void clearFaults(void);


void enableMotorBeating(bool enable);


void sendTorque(uint32_t MC_ADD, int torque, bool direction, bool enableBit);


void setDirection(bool runForward);


bool isForward(void);


int getLastTorqueValue(bool mc0);


int getLastPedalValue(void);


int getLastBrakeValue();


int getLastSteerValue();


int32_t motorSpeed(int motor = -1);


void setTorque(int pedal, int brake, int steer);


} // namespace MC


// Add reverse control

#endif // __ECU_MOTORCONTROL_H__

Canbus.h
FlexCAN_T4 wrapper.

Heartbeat.h
Make one ECU tell the other it is alive.

MC
Methods used to more easily interface with RMS Motor controllers over CAN bus.
Definition MotorControl.h:34

MC::sendTorque
void sendTorque(uint32_t MC_ADD, int torque, bool direction, bool enableBit)
Send a raw torque command to a MC.

MC::setTorque
void setTorque(int pedal, int brake, int steer)
Calculate and set the torque of both MCs.

MC::getLastSteerValue
int getLastSteerValue()
Get the last steer value that was internally used.

MC::getLastBrakeValue
int getLastBrakeValue()
Get the last brake value that was internally used.

MC::setDirection
void setDirection(bool runForward)
Set the direction of the motors.

MC::setupBuffers
void setupBuffers(void)
Only initialize MC buffers, called by MC::setup.

MC::isForward
bool isForward(void)
Get whether the motors will spin forward.

MC::getLastTorqueValue
int getLastTorqueValue(bool mc0)
Get the last torque percent value sent to a MC.

MC::getLastPedalValue
int getLastPedalValue(void)
Get the last pedal value that was internally used.

MC::motorSpeed
int32_t motorSpeed(int motor=-1)
Get the avg motorspeed.

MC::enableMotorBeating
void enableMotorBeating(bool enable)
Start MC heartbeat function, establishing a connection with the MCs.

MC::clearFaults
void clearFaults(void)
Clear MC faults by sending a clear fault command.

MC::setup
void setup(void)
Initialize MC heartbeat function and clear faults, if any.