Shao Rui / Joint_control_2AS5147_DRV8323RH_2020_5_26_test

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: structs.h

Revision:
49:7eac11914980
Parent:
48:1b51771c3647
--- a/structs.h	Fri Feb 07 11:31:37 2020 +0000
+++ b/structs.h	Thu Mar 19 03:48:24 2020 +0000
@@ -22,8 +22,9 @@
     float v_bus;
     float theta_mech, theta_elec;
     float dtheta_mech, dtheta_elec, dtheta_elec_filt;
-    float theta_mech1, theta_elec1;                       //shaorui add for joint position read
+    float theta_mech1, theta_elec1;                       //shaorui add for joint position read theta_joint_raw_pre
     float dtheta_mech1, dtheta_elec1, dtheta_elec_filt1;  //shaorui add for joint position read
+    float theta_joint, theta_joint_raw, theta_joint_raw_pre,theta_joint_raw_fil; //hjb added
     float i_d, i_q, i_q_filt;
     float v_d, v_q;
     float dtc_u, dtc_v, dtc_w;
@@ -41,6 +42,8 @@
     float init1, init2,cha;  
     int c,sidebct; 
     int sidebct1;
+    int Ncycle;
+    float Ncycle_mod, Mech_mod;
     } ControllerStruct;
 
 typedef struct{