24 lines
524 B
C++
24 lines
524 B
C++
#pragma once
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#include "main.h"
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#include "bsp/can.h"
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#include "device/motor.h"
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#include "device/motor_lz.h"
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#include "device/motor_rm.h"
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#include "device/motor_dm.h"
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#include <stdint.h>
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class Arm {
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public:
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Arm();
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void init();
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void operator()();
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private:
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MOTOR_DM_Param_t dm_motor_params[3];
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MOTOR_DM_t arm_dm_motor[3];
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MOTOR_LZ_Param_t lz_motor_params[3];
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MOTOR_LZ_t arm_lz_motor[3];
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MOTOR_LZ_MotionParam_t arm_lz_motion[3];
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MOTOR_MIT_Output_t arm_output[3];
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int8_t arm_state = 1;
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}; |