DC Motor

main/include/control/DCMotorActuator.h

@@ -0,0 +1,28 @@
+// DC motor with quatrature hall encoder
+
+#ifndef DCMOTORACTUATOR_H
+#define DCMOTORACTUATOR_H
+
+#include "freertos/FreeRTOS.h"
+#include <freertos/task.h>
+
+
+#include "IActuator.h"
+
+class DCMotorActuator final : public IActuator {
+public:
+    DCMotorActuator();
+    ~DCMotorActuator() override;
+    void actuate(uint8_t *cmd) override;
+private:
+    void setup_encoder();
+    static void pid_task(char* args);
+
+    int64_t m_target_angle;
+    TaskHandle_t m_pid_task;
+
+    double m_integral;
+    double m_last_error;
+};
+
+#endif //SERVO1ACTUATOR_H