spdis
114d93cec7
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
27 lines
585 B
C++
27 lines
585 B
C++
/*
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* MotorController — 直流电机控制器
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*
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* 封装 PWM 调速 + GPIO 方向控制，开环占空比直驱。
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* 不包含编码器反馈和 PID 闭环（开环巡线够用）。
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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 "GPIO.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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~MotorController(void);
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void updateduty(double dutyCycle); // dutyCycle: -100.0 ~ 100.0
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private:
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PwmController pwmController;
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GPIO directionGPIO;
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};
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#endif
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