spdis
28 lines
813 B
C++
28 lines
813 B
C++
/*
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* MotorController — 直流电机控制器实现
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*/
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#include "MotorController.h"
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MotorController::MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns)
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: pwmController(pwmchip, pwmnum), directionGPIO(gpioNum)
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{
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pwmController.setPeriod(period_ns);
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pwmController.setDutyCycle(0); // 先归零再使能, 防止 sysfs 残留值导致电机瞬动
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directionGPIO.setDirection("out");
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pwmController.enable();
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}
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MotorController::~MotorController(void)
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{
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pwmController.disable();
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}
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void MotorController::updateduty(double dutyCycle)
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{
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int newduty = pwmController.readPeriod() * std::abs(dutyCycle) / 100.0;
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if (newduty != pwmController.readDutyCycle())
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pwmController.setDutyCycle(newduty);
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directionGPIO.setValue(dutyCycle > 0);
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}
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