*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
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+#ifndef __MECHANICAL_BRAKE_HPP
+#define __MECHANICAL_BRAKE_HPP
+
+#include <autogen/interfaces.hpp>
+
+class MechanicalBrake : public ODriveIntf::MechanicalBrakeIntf  {
+   public:
+    struct Config_t {
+        uint16_t gpio_num = 0;
+        bool is_active_low = true;
+
+        // custom setters
+        MechanicalBrake* parent = nullptr;
+        void set_gpio_num(uint16_t value) { gpio_num = value; }
+    };
+
+    MechanicalBrake() {}
+
+    MechanicalBrake::Config_t config_;
+    Axis* axis_ = nullptr;
+
+    void release();
+    void engage();
+};
+#endif // __MECHANICAL_BRAKE_HPP