init commit

modules/motor/HT04.h

@@ -0,0 +1,38 @@
+#ifndef HT04_H
+#define HT04_H
+
+#include "struct_typedef.h"
+#include "bsp_can.h"
+
+#define HT_MOTOR_CNT 4
+
+#define P_MIN -95.5f    // Radians
+#define P_MAX 95.5f
+#define V_MIN -45.0f    // Rad/s
+#define V_MAX 45.0f
+#define T_MIN -18.0f
+#define T_MAX 18.0f
+
+typedef struct //HT04
+{
+    float last_ecd;
+    float ecd;
+    float speed_rpm;
+    float given_current;
+    can_instance motor_can_instace;
+} joint_instance;
+
+typedef enum
+{
+    CMD_MOTOR_MODE    = 0xfc,
+    CMD_RESET_MODE    = 0xfd,
+    CMD_ZERO_POSITION = 0xfe
+} joint_mode;
+
+
+void JointControl(joint_instance* _instance,float current);
+
+void SetJointMode(joint_mode cmd,joint_instance* _instance);
+
+void DecodeJoint(can_instance* motor_instance);
+#endif // !HT04_H#define HT04_H