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46 lines
1.0 KiB
46 lines
1.0 KiB
3 weeks ago
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/*
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* motor.h
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*
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* Created on: 2026年4月20日
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* Author: Lizongdi
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*/
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#ifdef BUILD_CANMOTOR
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#ifndef FSM_INC_MOTOR_H_
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#define FSM_INC_MOTOR_H_
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#include "bsp_FDCAN.h"
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#include "BHBF_ROBOT.h"
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typedef enum
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{
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M_TYPE_MOVELEFT,
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M_TYPE_MOVERIGHT,
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M_TYPE_SWING
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}EMotorType;
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typedef struct
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{
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int32_t MotorID;
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EMotorType MotorType;
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int32_t HeartbeatID;
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FDCANHandler *fHandler;
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TT_MotorParameters *pMotorParam;
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}TMotorCtrl;
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/*待适配接口*/
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void MotorGetState(TMotorCtrl *ptMotorCtrl, char *buffer);
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void WheelFuncInit(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl);
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void WheelFuncProc(TMotorCtrl *ptLeftMotorCtrl, TMotorCtrl *ptRightMotorCtrl);
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void WheelSetVelcity(TMotorCtrl *ptMotorCtrl, float fSpeed_M_min);
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void SwingFuncInit(TMotorCtrl *ptMotorCtrl);
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void SwingFuncProc(TMotorCtrl *ptMotorCtrl);
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void SwingSetPosition(TMotorCtrl *ptMotorCtrl, float fPositionAngle, int32_t iVelcityDegreeS);
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/*对外接口声明*/
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void MotorInit(void);
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#endif
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#endif /* FSM_INC_MOTOR_H_ */
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