#include "motor.h"
#include "oled.h"
#include "list_motor.h"

motor_t gm6020;
const pid_struct_t M3508_pid_speed = {
		2, 0.005, 2, 16000, 16000
	};
const pid_struct_t M3508_pid_pos = {
		0.1, 0.005, 0, 16000, 16000
	};

const pid_struct_t GM6020_pid_speed = {
		40, 3, 0, 30000, 30000
	};
const pid_struct_t GM6020_pid_pos = {
		30, 4, 15, 10000, 10000
	};

void motors_init(void){
	gm6020.type = GM6020;
	gm6020.can_info.can_id = 0;
	gm6020.can_info.tx_id = 1;
	gm6020.can_info.rx_id = 0x205; 
	gm6020.pid_pos = GM6020_pid_pos;
	gm6020.pid_speed = GM6020_pid_speed;
}