2026-03-08 18:17:14 +08:00
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#ifndef __MOTOR_H
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#define __MOTOR_H
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#include "main.h"
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2026-03-28 13:48:31 +08:00
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#define MAX_PWM_DUTY 1049
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#define PWM_LIMIT 1000
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2026-03-08 18:17:14 +08:00
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2026-03-28 13:48:31 +08:00
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#define ENCODER_RESOLUTION 11.0f
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#define REDUCTION_RATIO 90.0f
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#define PULSES_PER_REV (ENCODER_RESOLUTION * 4.0f * REDUCTION_RATIO)
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2026-03-08 18:17:14 +08:00
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2026-03-28 13:48:31 +08:00
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/* 控制循环 5ms，但速度估计窗口取 2 个采样点 => 10ms */
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#define MOTOR_SPEED_WINDOW_SAMPLES 2U
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2026-03-08 18:17:14 +08:00
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typedef enum {
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2026-03-28 13:48:31 +08:00
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MOTOR_FL = 0,
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MOTOR_RL,
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MOTOR_FR,
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MOTOR_RR
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2026-03-08 18:17:14 +08:00
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} Motor_ID_t;
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void Motor_Init(void);
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void Set_Motor_Output(Motor_ID_t id, int16_t control_out);
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void Motor_Brake_All(void);
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2026-03-28 13:48:31 +08:00
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/* 外部仍按 5ms 调用；内部会按滚动窗口更新速度估计 */
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2026-03-08 18:17:14 +08:00
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void Motor_Update_RPM(float dt_s);
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float Get_Motor_RPM(Motor_ID_t id);
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void Motor_Get_And_Clear_Delta_Ticks(int16_t* d_fl, int16_t* d_rl, int16_t* d_fr, int16_t* d_rr);
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2026-03-28 13:48:31 +08:00
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#endif /* __MOTOR_H */
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