Movitz Aaron
50e4ba8a07
Source-only snapshot of the 1.2 release. Drivers/ (the vendored ST HAL and CMSIS) is excluded at 173 MB; fetch it from STMicroelectronics/STM32CubeH5 to build.
39 lines
961 B
C
39 lines
961 B
C
#ifndef __YEEP144_DCMOTOR_H
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#define __YEEP144_DCMOTOR_H
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#include <stdint.h>
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// Defines
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#define DCMOTOR1 1
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#define DCMOTOR2 2
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#define DCMOTOR3 3
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#define DCMOTOR4 4
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#define DCMOTOR_STOP 0 // 0b00
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#define DCMOTOR_CCW 1 // 0b01
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#define DCMOTOR_CW 2 // 0b10
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#define DCMOTOR_SHORTBRAKE 3 // 0b11
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#define DCMOTOR_MIN_SPEED 0
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#define DCMOTOR_MAX_SPEED 4095 // This corresponds to the Period of the timer
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// Function prototypes
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// Init functions
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void YEEP144_DCMotor_Init(void);
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void YEEP144_Encoder1_Init(void);
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void YEEP144_Encoder2_Init(void);
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void YEEP144_Encoder3_Init(void);
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void YEEP144_Encoder4_Init(void);
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// Motor functions
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void YEEP144_DCMotor_SetSpeed(uint8_t motor, uint16_t speed);
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void YEEP144_DCMotor_SetDirection(uint8_t motor, uint8_t direction);
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// Encoder functions
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uint16_t YEEP144_Encoder1_Get(void);
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uint16_t YEEP144_Encoder2_Get(void);
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uint16_t YEEP144_Encoder3_Get(void);
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uint16_t YEEP144_Encoder4_Get(void);
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#endif |