spdis
38 lines
1.1 KiB
C++
38 lines
1.1 KiB
C++
/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-10 14:36:47
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-21 10:42:00
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* @FilePath: /smartcar/lib/MotorController.h
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* @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
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*/
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#ifndef MOTOR_CONTROLLER_H
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#define MOTOR_CONTROLLER_H
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#include "PwmController.h"
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#include "PIDController.h"
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#include "GPIO.h"
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#include "encoder.h"
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class MotorController
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{
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public:
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MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns,
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double kp, double ki, double kd, double targetSpeed,
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int encoder_pwmNum, int encoder_gpioNum, int encoder_dir_);
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~MotorController(void);
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void updateSpeed(void);
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void updateTarget(int speed);
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void updateduty(double dutyCycle);
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PIDController pidController;
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private:
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PwmController pwmController;
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ENCODER encoder;
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GPIO directionGPIO;
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int encoder_dir;
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};
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#endif // MOTOR_CONTROLLER_H
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