初始提交：龙芯2K0300智能车卖家Demo完整代码

2026-05-28 15:24:33 +08:00
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+/*
+ * @Author: ilikara 3435193369@qq.com
+ * @Date: 2024-10-10 14:36:47
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-03-21 10:42:00
+ * @FilePath: /smartcar/lib/MotorController.h
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
+#ifndef MOTOR_CONTROLLER_H
+#define MOTOR_CONTROLLER_H
+
+#include "PwmController.h"
+#include "PIDController.h"
+#include "GPIO.h"
+#include "encoder.h"
+
+class MotorController
+{
+public:
+    MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns,
+                    double kp, double ki, double kd, double targetSpeed,
+                    int encoder_pwmNum, int encoder_gpioNum, int encoder_dir_);
+    ~MotorController(void);
+
+    void updateSpeed(void);
+    void updateTarget(int speed);
+    void updateduty(double dutyCycle);
+    PIDController pidController;
+
+private:
+    PwmController pwmController;
+    ENCODER encoder;
+    GPIO directionGPIO;
+    int encoder_dir;
+};
+
+#endif // MOTOR_CONTROLLER_H