Loading Documents/motor/api.md +14 −0 Original line number Diff line number Diff line Loading @@ -25,6 +25,20 @@ enum motor_mode { MIT, PV, VO, ML_TORQUE, ML_ANGLE, ML_SPEED }; */ enum motor_cmd { ENABLE_MOTOR, DISABLE_MOTOR, SET_ZERO, CLEAR_PID, CLEAR_ERROR }; ``` ```c motor_status_t { float angle; float rpm; float torque; float temperature; /* Cannot be set in target */ int round_cnt; float speed_limit[2]; float torque_limit[2]; enum motor_mode mode; }; ``` ## 电机状态获取 `motor_get(const struct device *dev, motor_status_t *status)`: 获取电机当前状态，参数为电机状态结构体。 `motor_set(const struct device *dev, motor_status_t *status)`: 设置电机目标状态，参数为电机状态结构体。 Loading Loading
Documents/motor/api.md +14 −0 Original line number Diff line number Diff line Loading @@ -25,6 +25,20 @@ enum motor_mode { MIT, PV, VO, ML_TORQUE, ML_ANGLE, ML_SPEED }; */ enum motor_cmd { ENABLE_MOTOR, DISABLE_MOTOR, SET_ZERO, CLEAR_PID, CLEAR_ERROR }; ``` ```c motor_status_t { float angle; float rpm; float torque; float temperature; /* Cannot be set in target */ int round_cnt; float speed_limit[2]; float torque_limit[2]; enum motor_mode mode; }; ``` ## 电机状态获取 `motor_get(const struct device *dev, motor_status_t *status)`: 获取电机当前状态，参数为电机状态结构体。 `motor_set(const struct device *dev, motor_status_t *status)`: 设置电机目标状态，参数为电机状态结构体。 Loading
