Dual Motor Torque Control

Control torque (or actually current) of two motors at once, using MotorWare.

This program can be used with the Universal Dual Motor GUI.

Hardware

This project is configured for use with the LAUNCHXL-F28069M microcontroller board and two DRV8305 booster packs.

Requirements and Paths

Requires MotorWare as well as the according user configuration files. They can be found in the following repositories on git-amd:

• motorware
• amd_motorware_ext
• user_config_f28069m_drv8305

By default, it is expected that all packages are in separate subdirectories of the same root directory. Example:

~/workspace/motorware ~/workspace/amd_motorware_ext ~/workspace/user_config_f28069m_drv8305 ~/workspace/mw_dual_motor_torque_ctrl

In case you cannot follow this structure for some reason, you can modify the path variables $MW_INSTALL_DIR and $USER_CONFIG_DIR in the project settings. Please make sure not to commit these changes, though.

Structure of this Package

This package is structured as follows:

• src: Contains all the source code of this project
• ccs: Contains the Code Composer Studio project files

License

BSD 3-Clause License

Copyright (c) 2019, Max Planck Gesellschaft, New York University