#ifndef _BY_MOTION_H__
#define _BY_MOTION_H__

#include "at32f403a_407.h"

typedef struct motion_speed_type {
  float v_x;
  float v_y;
  float v_w;
} motion_speed_type;

typedef struct motion_time_type {
  uint32_t t_x;
  uint32_t t_y;
  uint32_t t_w;
} motion_time_type;

extern void by_motion_init(void);
extern void by_motion_update_speed(void);
extern void by_motion_loop(void);
extern void by_motion_set_mode(uint8_t mode);
extern void by_motion_timer_handle(void);
// extern void by_motion_set_mode(uint8_t mode);
extern void by_motion_set_mode_x(uint8_t mode);
extern void by_motion_set_mode_y(uint8_t mode);
extern void by_motion_set_mode_w(uint8_t mode);

extern motion_speed_type motion_speed_struct;
extern motion_time_type motion_time_struct;

#endif