motor.h

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//                                                                            //
//  Copyright (c) 2016-2025 Leonardo Consoni <leonardojc@protonmail.com>      //
//                                                                            //
//  This file is part of RobotSystem-Lite.                                    //
//                                                                            //
//  RobotSystem-Lite is free software: you can redistribute it and/or modify  //
//  it under the terms of the GNU Lesser General Public License as published  //
//  by the Free Software Foundation, either version 3 of the License, or      //
//  (at your option) any later version.                                       //
//                                                                            //
//  RobotSystem-Lite is distributed in the hope that it will be useful,       //
//  but WITHOUT ANY WARRANTY; without even the implied warranty of            //
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the              //
//  GNU Lesser General Public License for more details.                       //
//                                                                            //
//  You should have received a copy of the GNU Lesser General Public License  //
//  along with RobotSystem-Lite. If not, see <http://www.gnu.org/licenses/>.  //
//                                                                            //
 


 
#ifndef MOTOR_H
#define MOTOR_H
 
 
#include <stdbool.h>
 
typedef struct _MotorData MotorData;       
typedef MotorData* Motor;                  
 
                                                              
Motor Motor_Init( const char* configName );

void Motor_End( Motor motor );

bool Motor_Enable( Motor motor );
                                                                  
void Motor_Disable( Motor motor );

void Motor_SetOffset( Motor motor );

void Motor_SetOperation( Motor motor );

void Motor_WriteControl( Motor motor, double setpoint );
 
 
#endif  // MOTOR_H