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132 lines
3.0 KiB
C
132 lines
3.0 KiB
C
#pragma once
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#include "motor.h"
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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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#include "device/motor.h"
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#include "bsp/can.h"
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/* Exported constants ------------------------------------------------------- */
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#define MOTOR_RM_MAX_MOTORS 11
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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MOTOR_M2006,
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MOTOR_M3508,
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MOTOR_GM6020,
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} MOTOR_RM_Module_t;
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/*一个can最多控制11个电机*/
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typedef union {
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int16_t output[MOTOR_RM_MAX_MOTORS];
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struct {
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int16_t m3508_m2006_id201;
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int16_t m3508_m2006_id202;
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int16_t m3508_m2006_id203;
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int16_t m3508_m2006_id204;
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int16_t m3508_m2006_gm6020_id205;
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int16_t m3508_m2006_gm6020_id206;
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int16_t m3508_m2006_gm6020_id207;
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int16_t m3508_m2006_gm6020_id208;
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int16_t gm6020_id209;
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int16_t gm6020_id20A;
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int16_t gm6020_id20B;
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} named;
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} MOTOR_RM_MsgOutput_t;
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/*每个电机需要的参数*/
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typedef struct {
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BSP_CAN_t can;
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uint16_t id;
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MOTOR_RM_Module_t module;
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bool reverse;
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bool gear;
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} MOTOR_RM_Param_t;
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typedef MOTOR_Feedback_t MOTOR_RM_Feedback_t;
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typedef struct {
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MOTOR_RM_Param_t param;
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MOTOR_RM_Feedback_t feedback;
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MOTOR_t motor;
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// 多圈相关变量，仅gear模式下有效
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uint16_t last_raw_angle;
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int32_t gearbox_round_count;
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float gearbox_total_angle;
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} MOTOR_RM_t;
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/*CAN管理器，管理一个CAN总线上所有的电机*/
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typedef struct {
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BSP_CAN_t can;
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MOTOR_RM_MsgOutput_t output_msg;
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MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS];
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uint8_t motor_count;
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} MOTOR_RM_CANManager_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 注册一个RM电机
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param);
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/**
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* @brief 更新指定电机数据
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param);
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/**
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* @brief 设置一个电机的输出
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* @param param 电机参数
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* @param value 输出值，范围[-1.0, 1.0]
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* @return
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*/
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int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value);
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/**
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* @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可
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* @param param 电机参数
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* @return
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*/
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int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param);
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/**
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* @brief 获取指定电机的实例指针
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* @param param 电机参数
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* @return
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*/
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MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param);
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/**
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* @brief 使电机松弛（设置输出为0）
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* @param param
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* @return
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*/
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int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param);
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/**
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* @brief 使电机离线（设置在线状态为false）
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* @param param
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* @return
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*/
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int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param);
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/**
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* @brief
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* @param
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* @return
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*/
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int8_t MOTOR_RM_UpdateAll(void);
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#ifdef __cplusplus
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}
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#endif |