MotorControl.h File Reference

RSLK PI motor controller. More...

#include <stdio.h>
#include <stdint.h>

Go to the source code of this file.

Macros
#define	DUMPSIZE   200
	DUMPSIZE is the size of the dump buffer.

Functions
void	MC_Init (void)
	Initialize tach input and motor outputs. More...
void	MC_PIControlLoop (void)
	PI controller. More...
void	MC_SetDesiredSpeed (uint32_t newSpeed)
	Set desired speed. More...
uint32_t	MC_GetDesiredSpeed (void)
	Get desired speed. More...
void	MC_SetKp1 (int32_t kp1)
	Set numerator for proportial control. More...
void	MC_SetKp2 (int32_t kp2)
	Set denominator for proportial control. More...
void	MC_SetKi1 (int32_t ki1)
	Set numerator for integral control. More...
void	MC_SetKi2 (int32_t ki2)
	Set denominator for integral control. More...
int32_t	MC_GetKp1 (void)
	Get numerator for proportial control. More...
int32_t	MC_GetKp2 (void)
	Get denominator for proportial control. More...
int32_t	MC_GetKi1 (void)
	Get numerator for integral control. More...
int32_t	MC_GetKi2 (void)
	Get denominator for integral control. More...
int32_t	MC_GetLeftE (void)
	Get controller error on left. More...
int32_t	MC_GetRightE (void)
	Get controller error on right. More...
int32_t	MC_GetLeftU (void)
	Get controller actuator output on left. More...
int32_t	MC_GetRightU (void)
	Get controller actuator output on right. More...
uint32_t	MC_Time (void)
	Get controller time. More...
uint32_t *	MC_DumpRight (void)
	Get right speed log. More...
uint32_t *	MC_DumpLeft (void)
	Get left speed log. More...

Detailed Description

RSLK PI motor controller.

Using input capture input and PWM output to control motor speed

Version

RSLK v2.03

Author

Daniel Valvano and Jonathan Valvano

Copyright

Copyright 2024 by Jonathan W. Valvano, valva.nosp@m.no@m.nosp@m.ail.u.nosp@m.texa.nosp@m.s.edu,

Warning

AS-IS

Note

For more information see http://users.ece.utexas.edu/~valvano/

Date

July 5, 2026

RSLK RSLK motor pins

TM4C	MSPM0	Description
PB7	PB8	ELA TA0_C0
PB2	PB12	ERA TA0_C1
		ERB GPIO input (not connected)
		ELB GPIO input (not connected)

RSLK motor pins

TM4C	MSPM0	Description
PF2	PB4	Motor_PWML, ML+, IN3, PB.4/TIMA1_C0;
PF3	PB1	Motor_PWMR, MR+, IN1, PB.1/TIMA1_C1;
PA3	PB0	Motor_DIR_L,ML-, IN4, 1 means forward, 0 means backward
PA2	PB16	Motor_DIR_R,MR-, IN2