#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(int Mot_num, float Ua, float Ub, float Uc);
float normalizeAngle(float angle);
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(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