40 lines
712 B
C
40 lines
712 B
C
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#ifndef MOTOR_H
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#define MOTOR_H
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#include <Arduino.h>
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struct MotorPin
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{
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int pwm;
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int in1;
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int in2;
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};
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// 电机状态结构体
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struct MotorStatus
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{
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MotorPin pin;
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bool in1;
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bool in2;
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unsigned char pwm;
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};
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class MotorController
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{
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public:
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static void init(MotorPin aPin, MotorPin bPin, MotorPin cPin, MotorPin dPin);
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static void pwmControl(char motor, unsigned char pwm);
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static void motorControl(char motor, int speed);
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static void motorXYRControl(int8_t x, int8_t y, int8_t r);
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// 获取电机状态
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static MotorStatus getMotorStatus(char motor);
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private:
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static MotorStatus motorA;
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static MotorStatus motorB;
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static MotorStatus motorC;
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static MotorStatus motorD;
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};
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#endif
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