Shao Rui
/
AGV
1
Diff: struct.h
- Revision:
- 0:571a1835428e
diff -r 000000000000 -r 571a1835428e struct.h --- /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