chenged to 2 motor velocity-closed-loop; before testing

3rd/dfoc.h

@@ -1,20 +1,35 @@
 #ifndef __DFOC_H
 #define __DFOC_H
 
+struct Motor_ {
+  int Mot_num;
+  float Ua;
+  float Ub;
+  float Uc;
+  float Ubeta;
+  float Ualpha;
+  float dc_a;
+  float dc_b;
+  float dc_c;
+};
+
 void Motor_en(void);
 float constrain(float amt, float low, float high);
-void SetPwm(float Ua, float Ub, float Uc);
+void SetPwm(int Mot_num, float Ua, float Ub, float Uc);
 float normalizeAngle(float angle);
-void SetPhaseVoltage(float Uq, float Ud, float angle_el);
+void SetPhaseVoltage(struct Motor_ *Motor, float Uq, float angle_el);
+float cal_Iq_Id(float current_a, float current_b, float angle_el);
 void Check_Sensor(void);
-void FOC_Init(float power);
-float electricAngle(void);
-float GetCommand(void);
-void Set_Angle(float Target);
+void FOC_Init(void);
+float M0_electricAngle(void);
+float M1_electricAngle(void);
+void M0_Set_Angle(float Target);
+void M0_Set_Velocity(float Target);
+void M0_Set_CurTorque(float Target);
+void M1_Set_Angle(float Target);
+void M1_Set_Velocity(float Target);
+void M1_Set_CurTorque(float Target);
 float velocityopenloop(float target);
-
-
+void Print_Velocity(int Motor_Velocity);
 
 #endif
-
-