auto-measurements
Dependencies: FastPWM3 mbed-dev
Fork of Hobbyking_Cheetah_Compact by
structs.h
- Committer:
- benkatz
- Date:
- 2017-05-01
- Revision:
- 26:2b865c00d7e9
- Parent:
- 24:58c2d7571207
- Child:
- 28:8c7e29f719c5
File content as of revision 26:2b865c00d7e9:
#ifndef STRUCTS_H #define STRUCTS_H //#include "CANnucleo.h" #include "mbed.h" #include "FastPWM.h" typedef struct{ DigitalOut *enable; FastPWM *pwm_u, *pwm_v, *pwm_w; } GPIOStruct; typedef struct{ }COMStruct; typedef struct{ int adc1_raw, adc2_raw; float i_a, i_b, i_c; float v_bus; float theta_mech, theta_elec; float dtheta_mech, dtheta_elec; float i_d, i_q; float v_d, v_q; float dtc_u, dtc_v, dtc_w; float v_u, v_v, v_w; float d_int, q_int; int adc1_offset, adc2_offset; float i_d_ref, i_q_ref; int loop_count; int mode; float p_des, v_des, kp, kd, t_ff; float cogging[128]; } 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