38 lines
655 B
C++
38 lines
655 B
C++
#ifndef MOTOR_HPP
|
|
#define MOTOR_HPP
|
|
#include "djiMotor.h"
|
|
#include "pid.h"
|
|
|
|
typedef enum
|
|
{
|
|
ZER0 = 0,
|
|
// POINT_TOP = 360,
|
|
|
|
|
|
}Trigger_state;//存放位置宏定义
|
|
|
|
class Trigger
|
|
{
|
|
public:
|
|
Trigger();//构造函数声明
|
|
void triggerZero();
|
|
void triggerFlow(float angle);
|
|
//暂存要发送的电流
|
|
int16_t result;
|
|
|
|
//电机状态
|
|
|
|
private:
|
|
motor_measure_t* T_Motor;
|
|
//扳机3508pid
|
|
static const float Trigger_speed_PID[3];
|
|
static const float Trigger_angle_PID[3];
|
|
//电机速度pid结构体
|
|
pid_type_def speed_pid;
|
|
//位置环pid
|
|
pid_type_def angle_pid;
|
|
float angleSet;
|
|
};
|
|
|
|
#endif
|