36 lines
919 B
C
36 lines
919 B
C
#ifndef __DFOC_H
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#define __DFOC_H
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struct Motor_ {
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int Mot_num;
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float Ua;
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float Ub;
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float Uc;
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float Ubeta;
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float Ualpha;
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float dc_a;
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float dc_b;
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float dc_c;
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};
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void Motor_en(void);
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float constrain(float amt, float low, float high);
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void SetPwm(int Mot_num, float Ua, float Ub, float Uc);
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float normalizeAngle(float angle);
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void SetPhaseVoltage(struct Motor_ *Motor, float Uq, float angle_el);
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float cal_Iq_Id(float current_a, float current_b, float angle_el);
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void Check_Sensor(void);
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void FOC_Init(void);
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float M0_electricAngle(void);
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float M1_electricAngle(void);
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void M0_Set_Angle(float Target);
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void M0_Set_Velocity(float Target);
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void M0_Set_CurTorque(float Target);
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void M1_Set_Angle(float Target);
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void M1_Set_Velocity(float Target);
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void M1_Set_CurTorque(float Target);
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float velocityopenloop(float target);
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void Print_Velocity(int Motor_Velocity);
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#endif
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