Ben Katz / Hobbyking_Cheetah

DRV8323RS Version Gimbal Motor Tuning

Dependencies:   mbed-dev-f303 FastPWM3

Dependents:   GT_MOTOR_24NM_V03 GT_MOTOR_24NM_V03_PT1000CalTemp

Diff: structs.h

Revision:
22:60276ba87ac6
Parent:
20:bf9ea5125d52
Child:
23:2adf23ee0305
--- a/structs.h	Thu Mar 02 15:31:45 2017 +0000
+++ b/structs.h	Fri Mar 31 18:24:46 2017 +0000
@@ -9,6 +9,7 @@
 typedef struct{
     DigitalOut *enable;
     FastPWM *pwm_u, *pwm_v, *pwm_w;
+    int phasing;
     } GPIOStruct;
     
 typedef struct{
@@ -28,7 +29,19 @@
     float d_int, q_int;
     int adc1_offset, adc2_offset;
     float i_d_ref, i_q_ref;
+    int loop_count;
+    int mode;
     } ControllerStruct;
 
-
+typedef struct{
+    float vel_1;
+    float vel_1_old;
+    float vel_1_est;
+    float vel_2;
+    float vel_2_old;
+    float vel_2_est;
+    float ts;
+    float est;
+    } VelocityEstimatorStruct;
+    
 #endif