Diff: struct.h

Revision:

0:571a1835428e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/struct.h	Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,25 @@
+#ifndef STRUCT_H
+#define STRUCT_H
+
+#include "mbed.h"
+
+
+
+typedef struct{
+    DigitalIn *indicate;//brake chufa tiaojian 
+    DigitalOut *brake; //used for brake
+    } GPIOStruct;
+    
+    
+typedef struct{
+                        
+    float theta_mech, theta_elec;                           // Rotor mechanical and electrical angle
+    float dtheta_mech, dtheta_elec, dtheta_elec_filt;       // Rotor mechanical and electrical angular velocit
+    
+    float theta_joint, theta_joint_raw, theta_joint_raw_pre,theta_joint_raw_fil; //hjb added
+    int loop_count;                                         // Degubbing counter
+    float v_ref, fw_int;                                     // output voltage magnitude, field-weakening integral
+    float cogging[128];
+      float angle,angle1;//shaorui add  for test
+    } ControllerStruct;
+#endif