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arduino-cli/libraries/ESP32_Motor/ESP32_Motor.h

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+/**********************************************************
+      Make in goouuu.com
+	  Maker:MDC
+***********************************************************/
+#ifndef ESP32_Motor_H
+#define ESP32_Motor_H
+
+
+#include <stdio.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_attr.h"
+
+#include "driver/mcpwm.h"
+#include "soc/mcpwm_reg.h"
+#include "soc/mcpwm_struct.h"
+
+typedef enum
+{
+    motor_1    =1,
+    motor_2    =2,
+    motor_3    =3,
+    motor_4    =4,
+} motor_num_t;
+
+class Motor
+{
+  private:
+          int  pin;   
+          int  Dire_Pin;
+          int  Speed_Pin;
+
+          void setMotornum(motor_num_t num,uint8_t dirPin,uint8_t speedPin);
+
+          mcpwm_io_signals_t  MCPWM;
+          mcpwm_operator_t  MCPWM_OPR;          
+          mcpwm_timer_t MCPWM_TIMER;
+
+  public:  //公共方法
+     Motor(motor_num_t num,uint8_t dirPin,uint8_t speedPin);//构造函数
+     ~Motor();//析构函数
+
+     
+     void mcpwm_begin();
+     void Motor_Run(float duty_cycle);
+     
+};
+
+
+ 
+
+#endif