mirror of
https://github.com/google/mozc-devices.git
synced 2025-11-08 16:53:28 +03:00
994d22bb71
Co-authored-by: Takashi Toyoshima <toyoshim@google.com> Co-authored-by: Shun Ikejima <ikejima@google.com>
40 lines
1.1 KiB
C++
40 lines
1.1 KiB
C++
// Copyright 2025 Google Inc.
|
|
// Use of this source code is governed by an Apache License that can be found
|
|
// in the LICENSE file.
|
|
|
|
#ifndef COMMON_MOTOR_CONTROLLER_H_
|
|
#define COMMON_MOTOR_CONTROLLER_H_
|
|
|
|
#include <cstdint>
|
|
#include <memory>
|
|
|
|
#include "pico/time.h"
|
|
|
|
class MotorController final {
|
|
public:
|
|
enum class Mode { k1Motor, k9Motor };
|
|
enum class Direction { kForward, kBackward };
|
|
explicit MotorController(Mode = Mode::k9Motor, Direction = Direction::kForward);
|
|
MotorController(const MotorController&) = delete;
|
|
MotorController& operator=(const MotorController&) = delete;
|
|
~MotorController();
|
|
|
|
void Start(uint8_t index);
|
|
void Stop(uint8_t index);
|
|
|
|
private:
|
|
class Decoder;
|
|
|
|
static bool OnAlarm(repeating_timer* t);
|
|
void Step();
|
|
|
|
static constexpr size_t kNumOfPhases = 4;
|
|
static constexpr size_t kNumOfMotors = 9;
|
|
std::unique_ptr<Decoder> decoder_[kNumOfPhases];
|
|
bool started_[kNumOfMotors] = { false };
|
|
uint8_t phase_ = 0;
|
|
repeating_timer timer_;
|
|
Direction direction_ = Direction::kForward;
|
|
};
|
|
|
|
#endif // COMMON_MOTOR_CONTROLLER_H_
|