Shao Rui / RV_brake_2021_3_19

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: structs.h

Revision:
48:1b51771c3647
Parent:
37:c0f352d6e8e3
Child:
49:7eac11914980
--- a/structs.h	Sat Dec 07 08:01:06 2019 +0000
+++ b/structs.h	Fri Feb 07 11:31:37 2020 +0000
@@ -22,6 +22,8 @@
     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 dtheta_mech1, dtheta_elec1, dtheta_elec_filt1;  //shaorui add for joint position read
     float i_d, i_q, i_q_filt;
     float v_d, v_q;
     float dtc_u, dtc_v, dtc_w;
@@ -35,6 +37,10 @@
     int ovp_flag;
     float p_des, v_des, kp, kd, t_ff;
     float cogging[128];
+    float angle,angle1;//shaorui add  for test
+    float init1, init2,cha;  
+    int c,sidebct; 
+    int sidebct1;
     } ControllerStruct;
 
 typedef struct{