Sub_Spray_STM32/User/BSP/status/motor_manager.h

//
// Created by iflyt on 2025/3/3.
//

#ifndef MOTOR_MANAGER_H
#define MOTOR_MANAGER_H

#include "elc_motor.h"

class MotorManager {
private:
    static MotorManager* instance;


    MotorManager();
    MotorManager(const MotorManager&) = delete;
    MotorManager& operator=(const MotorManager&) = delete;

public:
    ECLMotor motors[3];

    static MotorManager* ins();

    int32_t getMotorPosition(int motorIndex);
    void setMotorTargetPosition(int motorIndex, int32_t targetPosition);
    void setMotorSpeed(int motorIndex, int32_t speed);
    int32_t getMotorSpeed(int motorIndex);
    uint8_t getMotorMovingStatus(int motorIndex);
    int32_t getMotorEncoderPosition(int motorIndex);
    void setMotorEncoderPosition(int motorIndex, int32_t encoderPos);
    void setMotorMoving(int motorIndex, bool moving); // 新增设置电机是否运动的接口
};

#endif //MOTOR_MANAGER_H