#ifndef INC_MOTOR_H_
#define INC_MOTOR_H_

#include <stdint.h>
#include <stdlib.h>
#include <math.h>
#include "../PID/pid.h"
#include "../user_define.h"
#include "tim.h"

typedef struct
{
  uint32_t ipulse_per_round;
  int16_t icounter;
  float dvelocity;
  float dposition;
  float dreference_velocity;
  float dreference_position;
} Motor_t;

void motor_init(Motor_t *tmotor, uint32_t ipulse);
void motor_reset(Motor_t *tmotor);
void motor_set_duty(int32_t iduty);
void motor_read_encoder(Motor_t *tmotor, TIM_HandleTypeDef *htim);
void motor_set_velocity(Motor_t *tmotor, PID_CONTROL_t *tpid_ctrl, float dvelocity);
void motor_set_position(Motor_t *tmotor, PID_CONTROL_t *tpid_ctrl, float dposition);

#endif /* INC_MOTOR_H_ */