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33 lines
793 B
33 lines
793 B
//
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// Created by iflyt on 2025/3/3.
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//
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#ifndef MOTOR_MANAGER_H
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#define MOTOR_MANAGER_H
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#include "elc_motor.h"
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class MotorManager {
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private:
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static MotorManager* instance;
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MotorManager();
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MotorManager(const MotorManager&) = delete;
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MotorManager& operator=(const MotorManager&) = delete;
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public:
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ECLMotor motors[3];
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static MotorManager* ins();
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int32_t getMotorPosition(int motorIndex);
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void setMotorTargetPosition(int motorIndex, int32_t targetPosition);
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void setMotorSpeed(int motorIndex, int32_t speed);
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int32_t getMotorSpeed(int motorIndex);
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uint8_t getMotorMovingStatus(int motorIndex);
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int32_t getMotorEncoderPosition(int motorIndex);
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void setMotorEncoderPosition(int motorIndex, int32_t encoderPos);
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};
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#endif //MOTOR_MANAGER_H
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