yezhong yezhong / Motor_DRV8323RH_for_2019-

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Dependencies:   mbed-dev-f303 FastPWM3

Diff: structs.h

Revision:
52:8fff6f1a3f50
Parent:
37:c0f352d6e8e3
--- a/structs.h	Tue Oct 26 08:56:41 2021 +0000
+++ b/structs.h	Mon Dec 20 01:24:06 2021 +0000
@@ -34,6 +34,10 @@
     int mode;
     int ovp_flag;
     float p_des, v_des, kp, kd, t_ff;
+//**************WYC ADD*******************2021/11/4************//
+    float ki,error,integral_prev,output_prev,error_prev,timestamp_prev;
+    float LIMIT;
+//**************WYC END*******************2021/11/4************//
     float cogging[128];
     } ControllerStruct;