63 lines
1.4 KiB
C
63 lines
1.4 KiB
C
#ifndef MOTORS_H
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#define MOTORS_H
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#include <pico/stdlib.h>
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// Motors
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typedef enum motors_enum_t {
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MOTOR1,
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MOTOR2,
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MOTOR3,
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MOTOR4,
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NB_MOTORS
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} motors_enum_t;
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typedef struct motor_def_t {
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uint pwm_pin;
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uint dir1_pin;
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uint dir2_pin;
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uint8_t buffer_reg;
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} motor_def_t;
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extern const motor_def_t MOTORS_DEFS[];
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// Servo Motors
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typedef enum {
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SERVO_MOTOR1,
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SERVO_MOTOR2,
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SERVO_MOTOR3,
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SERVO_MOTOR4,
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NB_SERVO_MOTORS
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} servo_motors_enum_t;
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typedef struct {
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uint pwm_pin;
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uint open_pos;
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uint close_pos;
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uint8_t buffer_reg;
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} servo_motor_def_t;
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extern const servo_motor_def_t SERVO_MOTORS_DEFS[];
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// Init all motors defined in the MOTORS_DEF array
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void init_motors(void);
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// Init all servo motors defined in the SERVO_MOTORS_DEF array
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void init_servo_motors(void);
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// Set [motor] to 0
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void motor_zero(motors_enum_t motor);
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// Set [motor] in motor_enum_t at [value] between -127 and 128
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void motor_set(motors_enum_t motor, int8_t value);
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// Set servo motor to its open pos
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void servo_motor_zero(servo_motors_enum_t servo_motor);
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// Set servo to its close pos if [close] else open pos
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void servo_motor_set(servo_motors_enum_t servo_motor, bool close);
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// Update motors from the data in the i2c buffer
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void update_motors_from_buffer(void);
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// Update servo motors from the data in the i2c buffer
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void update_servo_motors_from_buffer(void);
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#endif // MOTORS_H
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