init:全链路闭环控制调通

2026-06-06 21:26:08 +08:00
parent b5be64b642
commit f28d129e11
32 changed files with 5120 additions and 181 deletions
@@ -0,0 +1,18 @@
+#ifndef __MOTOR_H
+#define __MOTOR_H
+
+#include "zf_common_typedef.h"
+
+#define MOTOR_MAX           (3000)
+
+#define DIR_R               (B11)
+#define PWM_R               (PWM_TIM_G0_CH0_B10)
+
+#define DIR_L               (A27)
+#define PWM_L               (PWM_TIM_G7_CH0_A26)
+
+void motor_init(void);
+void motor_set_pwm_right(int32 pwm);
+void motor_set_pwm_left(int32 pwm);
+
+#endif