60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
#include "module/chassis.hpp"
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Chassis::Chassis() {
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motors_param[0] = {
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.can = BSP_CAN_2,
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.id = 0x201,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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};
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motors_param[1] = {
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.can = BSP_CAN_2,
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.id = 0x202,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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};
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motors_param[2] = {
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.can = BSP_CAN_2,
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.id = 0x203,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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};
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motors_param[3] = {
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.can = BSP_CAN_2,
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.id = 0x204,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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};
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}
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void Chassis::init() {
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MOTOR_RM_Register(&motors_param[0]);
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MOTOR_RM_Register(&motors_param[1]);
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MOTOR_RM_Register(&motors_param[2]);
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MOTOR_RM_Register(&motors_param[3]);
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}
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void Chassis::operator()() {
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MOTOR_RM_UpdateAll();
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MOTOR_RM_t *motor = NULL;
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motor = MOTOR_RM_GetMotor(&motors_param[0]);
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chassis_motors[0] = motor->motor;
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motor = MOTOR_RM_GetMotor(&motors_param[1]);
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chassis_motors[1] = motor->motor;
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motor = MOTOR_RM_GetMotor(&motors_param[2]);
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chassis_motors[2] = motor->motor;
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motor = MOTOR_RM_GetMotor(&motors_param[3]);
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chassis_motors[3] = motor->motor;
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// MOTOR_RM_SetOutput(&motors_param[0], 0.1f);
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// MOTOR_RM_Ctrl(&motors_param[0]);
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}
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