#ifndef _BY_MOTION_H__
#define _BY_MOTION_H__

#include "at32f413.h"

typedef struct by_motor_param {
  float Kp;
  float Ki;
  float Kd;
  float real_speed;
  float target_speed;
  float out_pwm;
} by_motor_param;

#define BY_MOTION_DEFAULT_KP_M1 (13.0f)
#define BY_MOTION_DEFAULT_KI_M1 (5.0f)
#define BY_MOTION_DEFAULT_KD_M1 (0.1f)
#define BY_MOTION_DEFAULT_KP_M2 (1.0f)
#define BY_MOTION_DEFAULT_KI_M2 (0.0f)
#define BY_MOTION_DEFAULT_KD_M2 (0.0f)

extern void by_motion_init(void);
extern void by_motion_run(void);
extern void by_motion_set_pwm_m1(int32_t pwm_duty);
extern void by_motion_set_pwm_m2(int32_t pwm_duty);
extern int16_t by_motion_get_speed_m1(void);
extern int16_t by_motion_get_speed_m2(void);
extern void by_motion_set_speed_m1(int16_t speed);
extern void by_motion_set_speed_m2(int16_t speed);

extern int16_t speed_m1;
extern int16_t speed_m2;

#endif