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AMC-BLDC: use HAsQuadEnc flag in motor configuration #9

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merged 1 commit into from
Feb 21, 2023
Merged

AMC-BLDC: use HAsQuadEnc flag in motor configuration #9

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Binary file modified boards/amcbldc/supervisor/SupervisorFSM_RX.slx
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2 changes: 1 addition & 1 deletion boards/amcbldc/supervisor/custom_code/rtw_motor_config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
//put here specific include files
#endif /* STM32HAL_BOARD_AMCBLDC */

void rtw_configMotor(int16_t rotor_enc_resolution, uint8_t pole_pairs,
void rtw_configMotor(uint8_t has_quad_enc, int16_t rotor_enc_resolution, uint8_t pole_pairs,
uint8_t has_hall_sens, uint8_t swapBC,
uint16_t hall_sens_offset)
{
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2 changes: 1 addition & 1 deletion boards/amcbldc/supervisor/custom_code/rtw_motor_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
/*inizialize the motor encoder using the data read in the configuration files (yarprobotinterface)
swapBC = 1
hall_sens_offset = 120 *65536/360 ; icubDeg*/
void rtw_configMotor(int16_t rotor_enc_resolution, uint8_t pole_pairs,
void rtw_configMotor(uint8_t has_quad_enc, int16_t rotor_enc_resolution, uint8_t pole_pairs,
uint8_t has_hall_sens, uint8_t swapBC,
uint16_t hall_sens_offset);

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