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50 lines
1.4 KiB
C
50 lines
1.4 KiB
C
/*
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DR16接收机
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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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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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/* Private function -------------------------------------------------------- */
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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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if (motor->reverse) {
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return -motor->feedback.rotor_abs_angle;
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}else{
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return motor->feedback.rotor_abs_angle;
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}
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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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if (motor->reverse) {
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return -motor->feedback.rotor_speed;
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}else{
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return motor->feedback.rotor_speed;
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}
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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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if (motor->reverse) {
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return -motor->feedback.torque_current;
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}else{
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return motor->feedback.torque_current;
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}
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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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