41 lines
958 B
C
41 lines
958 B
C
//
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// Created by hu123456 on 2024/1/16.
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//
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#ifndef FOC_N_FOC_H
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#define FOC_N_FOC_H
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#include "mymain.h"
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typedef struct
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{
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float ZT_KP;
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float ZT_KI;
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float ZT_KD;
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float V_KP;
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float V_KI;
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float V_KD;
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float ZT_ErrorPrev;
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float V_Prev;
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float V_Pid_IPrev;
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float V_Error_Prev;
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float V_Out_Prev;
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float zero_electric_angle;
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double Angle_Prev;
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unsigned long Time_Prev;
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}FOCTypeDef;
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extern FOCTypeDef FOCStruct_X;
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extern FOCTypeDef FOCStruct_Y;
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int alignSensor(unsigned char moto,FOCTypeDef * FOCStruct);
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void PID_Iint(void);
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double _normalizeAngle(float angle);
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double LPF_velocity(double x,FOCTypeDef *FOCStruct);
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void speed_closed_loop(unsigned motor,FOCTypeDef *FOCStruct,float V_Target);
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void Zitai_closed_loop(unsigned motor,FOCTypeDef *FOCStruct,float ZT_Error);
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void Angel_closed_loop(unsigned motor,FOCTypeDef *FOCStruct,float Angle_target);
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void PWM_Start();
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void moto_Init();
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#endif //FOC_N_FOC_H
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