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

empty.c

@@ -50,8 +50,14 @@ const float num_f = 0.123456f;
 volatile uint16_t count = 0;
 volatile float Target = 20; // 串口目标值
 
-const int pp = 7;   // 电机极对数
-const int Dir = -1; // 电机编码器方向
+int M0_PP = 7, M0_DIR = 1;
+int M1_PP = 7, M1_DIR = 1;
+
+int Motor0 = 0;
+int Motor1 = 1;
+
+float M0_Target = 20.0; // 串口目标值
+float M1_Target = 20.0; // 串口目标值
 
 #define UART_PACKET_SIZE (6)
 
@@ -108,22 +114,12 @@ int main(void) {
   NVIC_EnableIRQ(TIMER_0_INST_INT_IRQN);
   DL_TimerG_startCounter(TIMER_0_INST);
 
-  FOC_Init(12.6);
+  FOC_Init();
   DL_SYSTICK_resetValue();
 
   while (1) {
-    // DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
-    // delay_ms(10);
+    M0_Set_Velocity(M0_Target); // 速度模式
 
-    // 开环
-    velocityopenloop(Target);
-
-    // //test MT6701
-    // MT6701_get_angle_degree();
-    // printf("angle degree is %f \n", angle_f);
-
-    // // 闭环
-    // Set_Angle(Target);
     if (gCheckUART) {
       gCheckUART = false;
       parse_uart_cmd();