DRV8313兼容版

refactor(algorithm): 移除冗余头文件
移除不必要的stdint.h头文件引用，统一使用<cstdint>

refactor(sys): 清理系统级头文件依赖
移除未使用的头文件引用，统一整型类型定义，优化初始
化过程中的GPIO配置

Robot_V2/Algorithm/FOC.h

@@ -3,12 +3,15 @@
 #define _FOC_H
 #include "config.h"
 #include "pid.h"
-#include <stdint.h>
+#include <cstdint>
 
 class FOC_Controlroller {
 
   public:
 	FOC_Controlroller();
+	
+	// 初始化函数
+	u8 init();
 
 	u8 control_mode = 0;
 	float limit_voltage = 0.0f;
@@ -22,10 +25,9 @@ class FOC_Controlroller {
 	bool voltage_error = false;
 	bool is_shut_down = false;
 	float voltage_power_supply = 24.0f; // 电源电压
-	float v_safe = voltage_power_supply * 1.05f;
+	float v_safe = voltage_power_supply * 0.95f;
 	float duty_a = 0, duty_b = 0, duty_c = 0;
 	float Ua = 0, Ub = 0, Uc = 0;
-	u8 init(void);
 	float velocity_open_loop(void);
 	float angle_control(void);
 	float angle_control_with_velocity_limit(void);
@@ -50,6 +52,13 @@ class FOC_Controlroller {
 	PIDController ang_inVelAngloop =
 		PIDController{ang_angloop_p * 100, 0.0f, 5e-4, 1000000, 999};
 
+	void update_pid_limits() {
+		vel_loop.limit = voltage_power_supply;
+		angle_loop.limit = voltage_power_supply;
+		current_loop.limit = voltage_power_supply;
+		vel_inVelAngloop.limit = voltage_power_supply;
+	}
+
   protected:
 	float shaft_angle = 0;
 	float Ualpha, Ubeta = 0;