29 lines
617 B
C
29 lines
617 B
C
#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 motion_speed_type motion_speed_struct;
|
|
extern motion_time_type motion_time_struct;
|
|
|
|
#endif
|