#ifndef _MOTION_MODEL_H
#define	_MOTION_MODEL_H


#include "bsp.h"

extern uint8_t Path_Flag;
extern int16_t Speed_left,Speed_right,Speed_left_flag,Speed_right_flag;
#define Path_Num     1000

#define SBUS_ROCK_DEAD				    0x64  //  中性区
#define SBUS_ROCK_Y_MIDLE				0x3EA  
#define SBUS_ROCK_X_MIDLE				0x3EA  
#define SBUS_ROCK_Y_MAX                 0x6BA //Y最大1807
#define SBUS_ROCK_Y_MIN                 0x11A  //Y最小240
#define SBUS_ROCK_X_MAX                 0x6BA
#define SBUS_ROCK_X_MIN                 0x11A

#define SBUS_ROCK_UPDEAD			(SBUS_ROCK_Y_MIDLE+SBUS_ROCK_DEAD)
#define SBUS_ROCK_DOWNDEAD		    (SBUS_ROCK_Y_MIDLE-SBUS_ROCK_DEAD)
#define SBUS_ROCK_RIGHTDEAD		    (SBUS_ROCK_X_MIDLE+SBUS_ROCK_DEAD)
#define SBUS_ROCK_LEFTDEAD		    (SBUS_ROCK_X_MIDLE-SBUS_ROCK_DEAD)

//#define Max_Speed      1000// 占空比                        20000 //最大速度
#define Left_Driver    0x601
#define Right_Driver   0x602

//爱思控
#define Con_Mot_Speed  0x00// 占空比调速                     0x01 //闭环调速
#define Con_Mot_Stop   0x10 //正常停止
//科亚
#define KY_Driver    0x601

typedef enum{
	Motion_Left=0,	    //左驱动器
	Motion_Right,		//右驱动器
	Motion_Num,			//驱动器数量
}_Motion_Num;
typedef struct{
	bool ErrorFlag[Motion_Num];				//故障标志
	uint8_t WorkMode;			//工作模式
	int16_t SetSpeed[Motion_Num];			//设置左轮/右轮速度
	//int16_t SearchSpeed[Motion_Num];	        //查询左轮/右轮速度
    int16_t Electric_Current[Motion_Num];     //左轮/右轮电流
    uint8_t MotionFlag[Motion_Num];                //运动标志
}_Motion_Data;

extern _Motion_Data Motion_Data;
extern uint16_t Max_Speed;




void Sbus_Motion_Re(void);
void Sbus_Can_Handle(void);
void Can_Drive_Send(int16_t L_Flag,int16_t L_Speed,int16_t R_Flag,int16_t R_Speed);
void Can_Drive_Stop(void);


//extern uint32_t dsa[4];
void KY_CAN_Send(int16_t L_Flag,int16_t L_Speed,int16_t R_Flag,int16_t R_Speed);
void KY_Can_Stop(void);
    


//extern uint8_t Tim_Flag;








#endif