Pimpest
a4691caeed
* Added primary stepper motor driver code to repo * Added odometery encoder code to repo * Added the ability to update encoder wheel ratio via ros service Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com> Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
8 lines
230 B
C
8 lines
230 B
C
#pragma once
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#include "hardware/pio.h"
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void stepper_init();
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void start_pulse(PIO pio, uint sm, uint offset, uint pin, uint freq);
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void update_sm(PIO pio, uint sm, const uint pin, double v);
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void set_speeds(double vl, double vr); |