vadyschka01
47 lines
977 B
C
47 lines
977 B
C
#include "stm32g4xx.h"
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#include "motors.h"
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//#include "pid.h"
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//#include "mixer.h"
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#include "dshot2.h"
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void Motors_Init(void) {
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DSHOT_Init(300'000, true);
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}
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void Set_Motors(int val) {
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unsigned short cmd[4]={val,val,val,val};
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DSHOT_SetCommand(cmd, true);
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}
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void Set_Motor_Individual(int m1, int m2, int m3, int m4) {
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unsigned short cmd[4]={m1,m2,m3,m4};
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DSHOT_SetCommand(cmd, true);
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}
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void Motors_StartupDelay(void) {
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unsigned short cmd[4]={0,0,0,0};
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DSHOT_SetCommand(cmd, true);
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for (volatile int i = 0; i < 6000000; i++) __NOP();
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}
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void Motors_Stop(void) {
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unsigned short cmd[4]={0,0,0,0};
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DSHOT_SetCommand(cmd, true);
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}
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void Motors_Idle(void) {
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unsigned short cmd[4]={150,150,150,150};
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DSHOT_SetCommand(cmd, true);
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}
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void Motors_Arm(void) {
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unsigned short cmd[4]={150,150,150,150};
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DSHOT_SetCommand(cmd, true);
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}
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void Motors_Disarm(void) {
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unsigned short cmd[4]={0,0,0,0};
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DSHOT_SetCommand(cmd, true);
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}
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