#pragma once

#include "main.h"
#include "bsp/can.h"
#include "device/motor.h"
#include "device/motor_lz.h"
#include "device/motor_rm.h"
#include "device/motor_dm.h"
#include <stdint.h>

class Arm {
public:
    Arm();
    void init();
    void operator()();
private:
    MOTOR_DM_Param_t dm_motor_params[3];
    MOTOR_DM_t arm_dm_motor[3];
    MOTOR_LZ_Param_t lz_motor_params[3];
    MOTOR_LZ_t arm_lz_motor[3];
    MOTOR_LZ_MotionParam_t arm_lz_motion[3];
    MOTOR_MIT_Output_t arm_output[3];

};