*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,13 @@
+#include <odrive_main.h>
+
+void MechanicalBrake::engage() {
+	if (odrv.config_.gpio_modes[config_.gpio_num] == ODriveIntf::GPIO_MODE_MECH_BRAKE){
+		get_gpio(config_.gpio_num).write(config_.is_active_low ? 0 : 1);
+	}
+}
+
+void MechanicalBrake::release() {
+	if (odrv.config_.gpio_modes[config_.gpio_num] == ODriveIntf::GPIO_MODE_MECH_BRAKE){
+		get_gpio(config_.gpio_num).write(config_.is_active_low ? 1 : 0);
+	}
+}