> For the complete documentation index, see [llms.txt](https://docs.feelix.xyz/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.feelix.xyz/downloads/arduino-library-documentation/motor-control-functions.md).

# Control

## Functions and Parameters

#### Move Motor

{% hint style="success" %}
This code works with the [**Feelix Effect Arduino Library**](/downloads/c-library.md#library-for-exported-feelix-effects)
{% endhint %}

* In **torque** mode  `MotionControlType::torque`  the  `targetValue` sets the voltage.
* In **angle** mode  `MotionControlType::angle`  the  `targetValue` sets the target position (radians).
* In **velocity** mode  `MotionControlType::velocity`  the  `targetValue` sets the target speed (rad/s).

```cpp
feelix.move_feelix(float targetValue, MotionControlType controlType);
```

#### Disable driver

```c++
feelix.disable();
```

#### Enable driver

```c++
feelix.enable(); // enabled by default in feelix.init();
```

#### Set rotation range

```cpp
void setRange(float rangeMin, float rangeMax, bool updateStartPos = true);
```

* **rangeMin** – start position in degrees *(default: 0)*
* **rangeMax** – end position in degrees *(default: 360)*
* **updateStartPos** *(optional)* – set current position to zero *(default: true)*

#### **Constrain range within which effects can be played**

```cpp
bool constrain_range = true;  // default: false
```

#### Set voltage limit

```cpp
void setVoltageLimit(float limit);  // default: 12.0 V
```

#### Set velocity limit

```cpp
void setVelocityLimit(float limit);  // default: 22.0 rad/s
```

## Motor Control Parameters

**PID controller settings** (more [information](https://docs.simplefoc.com/pi_controller))

Angle PID

```cpp
feelix.bldc->P_angle.P = 14.0;
feelix.bldc->P_angle.I = 0.0;
feelix.bldc->P_angle.D = 0.0;
```

Velocity PID

```cpp
feelix.bldc->PID_velocity.P = 0.5;
feelix.bldc->PID_velocity.I = 10.0;
feelix.bldc->PID_velocity.D = 0.0;
```

## Variables

Variables updated in `feelix.run()`

```cpp
feelix.angle           // angle in radians
feelix.angleDeg        // angle in degrees
feelix.velocity        // velocity in rad/s
feelix.temperature     // temperature motor 
feelix.driverVoltage   // voltage used to drive the motor
feelix.status          // status of the motor (see below)
```

#### Status

```c++
enum STATUS {
  STANDBY             = 0, // default status
  ERROR_TEMP          = 1, // temperature exceeds 60.0 degrees
  ERROR_UNDERVOLTAGE  = 2, // voltage is below 6.0V
  RUN_HAPTIC          = 3, // playing a haptic effect 
  RUN_VELOCITY        = 4, // playing a velocity effect
  ROTATING            = 5, // moving towards a target position
  DISABLED            = 6, // driver disabled
  ENABLED             = 7  // driver enabled
};
```

#### Transmission Factor

Setting this factor lets you account for gear ratios so motion is calculated at the output shaft rather than just at the motor.

```cpp
float transmissionFactor = 1.0; //default 1.0
```

{% hint style="info" %}
**transmission factor = (teeth of driven gear) ÷ (teeth of driving gear)**
{% endhint %}


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