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38 lines
487 B
C
38 lines
487 B
C
#pragma once
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#define RPM(a) ((a) / 60.0 * M_PI * 2.0)
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#define KGCM2(a) ((a) / 10000.0)
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//Do not change order, append new types at the end
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typedef enum {
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ENC = 1,
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RES,
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SINCOS,
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STEPDIR,
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UPDOWN,
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PWM,
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FREQ,
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MITSU,
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YASKAWA,
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HYPER,
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SANYO,
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SSERIAL,
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ENDAT,
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BISS,
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SSI
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} protocol_t;
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typedef enum {
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ACSYNC = 0,
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ACASYNC,
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AC2PHASE,
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DC
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} mot_type_t;
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void link_pid();
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void link_simplepid();
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void link_ac();
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int update_cmd();
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int update_fb();
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int update_mot();
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