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107 lines
3.0 KiB
107 lines
3.0 KiB
4 days ago
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/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : BHBF_robot.h
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版 本 号 : 初稿
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作 者 : radkil
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生成日期 : 2026年6月8日
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最近修改 :
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功能描述 : BHBF_robot.c 的头文件
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修改历史 :
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1.日 期 : 2026年6月8日
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作 者 : radkil
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修改内容 : 创建文件
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******************************************************************************/
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/*----------------------------------------------*
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* 外部变量说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 外部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 内部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 全局变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 常量定义 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 宏定义 *
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*----------------------------------------------*/
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#ifndef __BHBF_ROBOT_H__
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#define __BHBF_ROBOT_H__
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#ifdef __cplusplus
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#if __cplusplus
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extern "C"{
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#endif
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#endif /* __cplusplus */
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/*==============================================*
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* include header files *
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*----------------------------------------------*/
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#include "drv_interface.h"
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#include "rd_time.h"
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/*==============================================*
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* constants or macros define *
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*----------------------------------------------*/
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typedef enum {
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GF_CMD_DEFAULT_NULL = 0,
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GF_CMD_STOP_ALL,
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GF_CMD_MANUAL_FORWARD,
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GF_CMD_MANUAL_BACKWARD,
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GF_CMD_AUTO_FORWARD
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} GF_CMD;
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typedef struct _GV_struct_define
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{
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int m_iWorkMode;
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GF_CMD m_eGFCmd;
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int32_t m_iMoveSpeed[2];//索引1对应左轮，索引2对应右轮
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} GV_struct_define;
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/*==============================================*
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* project-wide global variables *
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*----------------------------------------------*/
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/*==============================================*
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* routines' or functions' implementations *
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*----------------------------------------------*/
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// 待实现接口
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void MK32_Init(void);
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GF_CMD MK32_Task(int mode);
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void MoveWheel_Init(void);
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void MoveWheel_Task(int32_t Target_Velcity[]);
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#ifdef __cplusplus
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#if __cplusplus
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}
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#endif
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#endif /* __cplusplus */
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#endif /* __BHBF_ROBOT_H__ */
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