28 lines
841 B
C++
28 lines
841 B
C++
#ifndef MOTOR_H
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#define MOTOR_H
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#include "ti_msp_dl_config.h"
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class Motor {
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public:
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static void init(); // 模块初始化
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static void inject(); // 数据注入（串口、I2C回调函数注入数据）
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static void setLeftSpeed(int left_speed);
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static void setRightSpeed(int right_speed);
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static void setSpeed(int left_speed, int right_speed);
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static void stopLeft();
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static void stopRight();
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static void stop();
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private:
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static uint8_t _inited;
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static uint8_t _data[];
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static uint8_t motor_init; // 电机初始化标志
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static void setLeftDirection(uint8_t direction);
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static void setRightDirection(uint8_t direction);
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static void setDirection(uint8_t left_direction, uint8_t right_direction);
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static int Abs(int num); // 取绝对值函数
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};
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#endif //MOTOR_H
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