mirror of
https://github.com/goldenfishs/MRobot.git
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Robofish
eeb02a2de3
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
53 lines
1.3 KiB
C
53 lines
1.3 KiB
C
/*
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电机通用函数
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "motor.h"
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#include <string.h>
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* Private define ----------------------------------------------------------- */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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/* Private variables -------------------------------------------------------- */
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/* Private function -------------------------------------------------------- */
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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/* Exported functions ------------------------------------------------------- */
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float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
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if (motor == NULL) return DEVICE_ERR_NULL;
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return motor->feedback.rotor_abs_angle;
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}
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float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {
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if (motor == NULL) return DEVICE_ERR_NULL;
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return motor->feedback.rotor_speed;
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}
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float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) {
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if (motor == NULL) return DEVICE_ERR_NULL;
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return motor->feedback.torque_current;
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}
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float MOTOR_GetTemp(const MOTOR_t *motor) {
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if (motor == NULL) return DEVICE_ERR_NULL;
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return motor->feedback.temp;
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}
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