40 lines
748 B
C
40 lines
748 B
C
#ifndef LK9025_H
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#define LK9025_H
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#include "struct_typedef.h"
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#include "bsp_can.h"
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#include "controller.h"
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#define LK_MOTOR_CNT 2
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#define I_MIN -2000
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#define I_MAX 2000
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#define LIMIT_MIN_MAX(x,min,max) (x) = (((x)<=(min))?(min):(((x)>=(max))?(max):(x)))
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typedef struct //9025
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{
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uint16_t last_ecd;
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uint16_t ecd;
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int16_t speed_rpm;
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int16_t given_current;
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uint8_t temperate;
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PID_t* pid;
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can_instance* motor_can_instance;
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} driven_instance;
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typedef enum
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{
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unused = 0,
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} driven_mode;
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driven_instance* LKMotroInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
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void DrivenControl(int16_t motor1_current,int16_t motor2_current);
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void SetDrivenMode(driven_mode cmd,uint16_t motor_id);
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#endif // LK9025_H
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