45 lines
1013 B
C
45 lines
1013 B
C
#ifndef SERVO_MOTOR_H
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#define SERVO_MOTOR_H
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#include "main.h"
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#include "tim.h"
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#include <stdint-gcc.h>
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#include "bsp_pwm.h"
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#include "bsp_usart.h"
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#define SERVO_MOTOR_CNT 7
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#define Servo_Frame_First 0x55
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#define Servo_Frame_Second 0x55
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#define Servo_MAX_BUFF 10
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#define SERVO_MOVE_CMD 0x03
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#define SERVO_UNLOAD_CMD 0x14
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#define SERVO_POS_READ_CMD 0x15
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typedef enum
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{
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Servo_None_Type = 0,
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Bus_Servo = 1,
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PWM_Servo = 2,
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}ServoType_e;
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/* 用于初始化不同舵机的结构体,各类舵机通用 */
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typedef struct
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{
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PWM_Init_Config_s pwm_init_config;
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ServoType_e servo_type;
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UART_HandleTypeDef *_handle;
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uint8_t servo_id;
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}Servo_Init_Config_s;
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typedef struct
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{
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uint8_t servo_id;
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float angle;
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uint16_t recv_angle;
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PWMInstance *pwm_instance;
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USARTInstance *usart_instance;
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ServoType_e servo_type;
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}ServoInstance;
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ServoInstance *ServoInit(Servo_Init_Config_s *Servo_Init_Config);
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void ServoSetAngle(ServoInstance *servo, float angle);
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#endif // SERVO_MOTOR_H
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