38 lines
737 B
C
38 lines
737 B
C
#ifndef HT04_H
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#define HT04_H
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#include "struct_typedef.h"
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#include "bsp_can.h"
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#define HT_MOTOR_CNT 4
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#define P_MIN -95.5f // Radians
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#define P_MAX 95.5f
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#define V_MIN -45.0f // Rad/s
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#define V_MAX 45.0f
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#define T_MIN -18.0f
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#define T_MAX 18.0f
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typedef struct //HT04
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{
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float last_ecd;
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float ecd;
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float speed_rpm;
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float given_current;
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can_instance motor_can_instace;
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} joint_instance;
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typedef enum
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{
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CMD_MOTOR_MODE = 0xfc,
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CMD_RESET_MODE = 0xfd,
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CMD_ZERO_POSITION = 0xfe
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} joint_mode;
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void JointControl(joint_instance* _instance,float current);
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void SetJointMode(joint_mode cmd,joint_instance* _instance);
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void DecodeJoint(can_instance* motor_instance);
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#endif // !HT04_H#define HT04_H
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