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

3rd/mt6701.h

@@ -4,26 +4,31 @@
 #include <stdint.h>
 
 #ifdef __cplusplus
-extern "C"
-{
+extern "C" {
 #endif
 
-#define PI       3.14159265359f
-#define _2PI       6.28318530718f
+#define PI 3.14159265359f
+#define _2PI 6.28318530718f
 
 #define I2C_TX_PACKET_SIZE (1)
-
-/*
- * Number of bytes to received from target.
- *  This example uses FIFO with polling, and the maximum FIFO size is 8.
- *  Refer to interrupt examples to handle larger packets
- */
 #define I2C_RX_PACKET_SIZE (2)
+
+struct AS5600_Sensor {
+  int Mot_num;
+  float Angle;
+  float velocity;
+  float full_rotations;
+  float Last_Angle;
+  float Last_Vel_ts;
+  float Vel_Last_Angle;
+};
+
+void Set_Sensor(int Mot);
 void MT6701_iic_read_angel(void);
 void MT6701_get_angle_degree(void);
-float GetAngle(void);
-float GetAngle_NoTrack(void);
-float GetVelocity(void);
+float GetAngle(struct AS5600_Sensor *AS5600);
+float GetAngle_NoTrack(struct AS5600_Sensor *AS5600);
+float GetVelocity(struct AS5600_Sensor *AS5600_Vel);
 
 #ifdef __cplusplus
 }