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69 lines
1.7 KiB
C
69 lines
1.7 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include "device/device.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef struct {
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float rotor_abs_angle; /* 转子绝对角度 */
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float rotor_speed; /* 实际转子转速 */
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float torque_current; /* 转矩电流 */
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float temp; /* 温度 */
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} MOTOR_Feedback_t;
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/**
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* @brief mit电机输出参数结构体
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*/
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typedef struct {
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float torque; /* 目标力矩 */
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float velocity; /* 目标速度 */
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float angle; /* 目标位置 */
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float kp; /* 位置环增益 */
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float kd; /* 速度环增益 */
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} MOTOR_MIT_Output_t;
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/**
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* @brief 转矩电流控制模式参数结构体
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*/
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typedef struct {
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float current; /* 目标电流 */
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} MOTOR_Current_Output_t;
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typedef struct {
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DEVICE_Header_t header;
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bool reverse; /* 是否反装 true表示反装 */
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MOTOR_Feedback_t feedback;
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} MOTOR_t;
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/* USER STRUCT BEGIN */
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/* USER STRUCT END */
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/* Exported functions prototypes -------------------------------------------- */
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float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor);
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float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
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float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
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float MOTOR_GetTemp(const MOTOR_t *motor);
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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#ifdef __cplusplus
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}
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#endif
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