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https://gitee.com/dlmu-cone/tronone-h7-scaffold
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70 lines
1.5 KiB
C
70 lines
1.5 KiB
C
/**
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* @file mg996.h
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* @author TuxMonkey (https://github.com/TuxMonkey)
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* @brief MG996 servo motor driver header (MG996舵机驱动头文件)
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* @version 1.0
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* @date 2024-06-10
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**/
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#ifndef MG996_H
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#define MG996_H
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include <stdint.h>
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// 前向声明PWM实例结构体，与bsp_pwm.h中的类型保持一致
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typedef struct PWMInstance PWMInstance;
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/**
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* @brief MG996舵机初始化配置结构体
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*/
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typedef struct
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{
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void *pwm_config; /**< PWM配置参数 */
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float min_dutyratio; /**< 最小占空比 (0.0 - 1.0) */
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float max_dutyratio; /**< 最大占空比 (0.0 - 1.0) */
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float min_angle; /**< 最小角度 (度) */
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float max_angle; /**< 最大角度 (度) */
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} MG996_Init_Config_s;
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/**
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* @brief MG996舵机实例结构体
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*/
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typedef struct
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{
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PWMInstance *pwm; /**< PWM控制器实例指针，类型与bsp_pwm.h中的PWMInstance一致 */
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float min_dutyratio; /**< 最小占空比 */
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float max_dutyratio; /**< 最大占空比 */
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float min_angle; /**< 最小角度 (度) */
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float max_angle; /**< 最大角度 (度) */
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} MG996Instance;
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/**
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* @brief 注册并初始化MG996舵机
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*
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* @param config 初始化配置参数
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* @return MG996Instance* 舵机实例指针，失败返回NULL
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*/
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MG996Instance *MG996Register(MG996_Init_Config_s *config);
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/**
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* @brief 设置舵机角度
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*
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* @param mg996 舵机实例指针
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* @param angle 目标角度 (度)
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*/
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void MG996SetAngle(MG996Instance *mg996, float angle);
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#ifdef __cplusplus
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}
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#endif
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#endif /* MG996_H */
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