Implement torque control in loop function

askuric · web-flow · commit 7f9c45fa3af4 · 2026-02-22T05:32:24.000+01:00
Added torque control call to motor loop in the main loop.
diff --git a/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino b/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino
@@ -71,6 +71,9 @@ void setup() {
 }
 
 void loop() {
+  //torque control 
+  // should be called as frequently as possible
+  motor.loopFOC();
   // open  loop angle movements
   // using motor.voltage_limit and motor.velocity_limit
   // angles can be positive or negative, negative angles correspond to opposite motor direction

Original file line number	Diff line number	Diff line change
`@@ -71,6 +71,9 @@ void setup() {`
`71`	`71`	`}`
`72`	`72`
`73`	`73`	`void loop() {`
	`74`	`+ //torque control`
	`75`	`+ // should be called as frequently as possible`
	`76`	`+ motor.loopFOC();`
`74`	`77`	`// open loop angle movements`
`75`	`78`	`// using motor.voltage_limit and motor.velocity_limit`
`76`	`79`	`// angles can be positive or negative, negative angles correspond to opposite motor direction`