Shao Rui
/
AGV
1
struct.h
- Committer:
- shaorui
- Date:
- 2021-01-25
- Revision:
- 0:571a1835428e
File content as of revision 0:571a1835428e:
#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