sentry_gimbal_hzz/modules/motor/LK9025.h

#ifndef LK9025_H
#define LK9025_H

#include "struct_typedef.h"
#include "bsp_can.h"
#include "controller.h"

#define LK_MOTOR_CNT 2
#define I_MIN -2000
#define I_MAX 2000

#define LIMIT_MIN_MAX(x,min,max) (x) = (((x)<=(min))?(min):(((x)>=(max))?(max):(x)))


typedef struct //9025
{
    uint16_t last_ecd;
    uint16_t ecd;
    int16_t speed_rpm;
    int16_t given_current;
    uint8_t temperate;

    PID_t* pid;
    can_instance* motor_can_instance;

} driven_instance;

typedef enum
{
    unused = 0,
} driven_mode;

driven_instance* LKMotroInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);

void DrivenControl(int16_t motor1_current,int16_t motor2_current);

void SetDrivenMode(driven_mode cmd,uint16_t motor_id);

#endif // LK9025_H