2025-11-17 17:02:53 +08:00
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#ifndef MT6701_H
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#define MT6701_H
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#include <stdint.h>
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#ifdef __cplusplus
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2025-11-20 09:50:13 +08:00
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extern "C" {
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2025-11-17 17:02:53 +08:00
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#endif
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2025-11-20 09:50:13 +08:00
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#define PI 3.14159265359f
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#define _2PI 6.28318530718f
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2025-11-17 17:02:53 +08:00
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#define I2C_TX_PACKET_SIZE (1)
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#define I2C_RX_PACKET_SIZE (2)
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2025-11-20 09:50:13 +08:00
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2025-11-20 16:32:17 +08:00
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struct MT6701 {
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2025-11-20 09:50:13 +08:00
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int Mot_num;
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float Angle;
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float velocity;
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float full_rotations;
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float Last_Angle;
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float Last_Vel_ts;
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float Vel_Last_Angle;
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};
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void Set_Sensor(int Mot);
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2025-11-17 17:02:53 +08:00
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void MT6701_iic_read_angel(void);
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void MT6701_get_angle_degree(void);
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2025-11-20 16:32:17 +08:00
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float GetAngle(struct MT6701 *mt6701);
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float GetAngle_NoTrack(struct MT6701 *mt6701);
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float GetVelocity(struct MT6701 *mt6701_Vel);
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2025-11-17 17:02:53 +08:00
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#ifdef __cplusplus
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}
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#endif
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#endif /* MT6701_H */
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