mult_motor_controller.h

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/*
 * mult_motor_controller.h
 *
 *  Created on: Mar 5, 2025
 *      Author: Andrey Ovodov
 */
 
#ifndef MOTORS_CONTROLLERS_MULT_MOTOR_CONTROLLER_H_
#define MOTORS_CONTROLLERS_MULT_MOTOR_CONTROLLER_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "mult_motor_controller.h"
#include "motor_controller.h"
#include "stdint.h"
 
typedef void (*MultiMotorSelfFunc_t)(void *self);
typedef void (*MultiMotorFunc_t)(void);
typedef void (*MultiMotorSelfFuncWithReason_t)(void *self, uint8_t reason);
 
typedef void (*MultMotorMoveToPos)(void *self, uint8_t* position, uint8_t* delay, uint8_t* speed, uint8_t* force);
 
typedef struct
{
    motor_controller_base_t *motors[6];
    uint8_t motors_num;
 
    uint8_t *settings;
 
 
    //Functions
    MultiMotorSelfFuncWithReason_t Open;
    MultiMotorSelfFuncWithReason_t Close;
    MultiMotorSelfFuncWithReason_t Stop;
    MultMotorMoveToPos MoveToPos;
    MultiMotorSelfFunc_t Tick;
    MultiMotorSelfFunc_t Calibrate;
 
}multi_motor_controller_base_t;
 
void MultMotorControllesBaseInit(multi_motor_controller_base_t *self);
 
#ifdef __cplusplus
}
#endif
 
#endif /* MOTORS_CONTROLLERS_MULT_MOTOR_CONTROLLER_H_ */