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 +1,17 @@
+#ifndef MOTORENCODER_H
+#define MOTORENCODER_H
+
+#include "zf_common_typedef.h"
+
+typedef union{
+    uint16_t raw;
+    int16_t value;
+} motor_encoder_data_t;
+
+void motor_encoder_init(void);
+void motor_encoder_update(void);
+
+extern volatile motor_encoder_data_t motor_speed_right;
+extern volatile motor_encoder_data_t motor_speed_left;
+
+#endif