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motor: Add pattern control mode

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Signed-off-by: xueyanhong <xueyanhong@xiaomi.com>
This commit is contained in:
xueyanhong 2021-11-16 16:27:38 +08:00 • committed by Petro Karashchenko
parent 7d66a16c53
commit b88160084e
1 changed files with 3 additions and 1 deletions
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4
include/nuttx/motor/motor.h
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@ -62,7 +62,8 @@ enum motor_opmode_e
MOTOR_OPMODE_POSITION = 1, /* Position control mode */
MOTOR_OPMODE_SPEED = 2, /* Speed control mode */
MOTOR_OPMODE_TORQUE = 3, /* Torque control mode */
MOTOR_OPMODE_FORCE = 4 /* Force control mode */
MOTOR_OPMODE_FORCE = 4, /* Force control mode */
MOTOR_OPMODE_PATTERN = 5 /* Pattern control mode */
};
/* Motor driver state */
@ -209,6 +210,7 @@ struct motor_params_s
#ifdef CONFIG_MOTOR_UPPER_HAVE_DECELERATION
float deceleration; /* Motor deceleration */
#endif
FAR void *privdata; /* out of band data */
};
/* Motor operations used to call from the upper-half, generic motor driver