```

feat(DengFOC):
新增了基于三相电流采样的dq轴电流计算函数`cal_Iq_Id`
调整了开环控制中的电压限制逻辑
更新了默认电源电压值为24V。
KHT7823测试代码
```

Robot_V2/device/adc.h

@@ -6,29 +6,29 @@ extern "C" {
 #endif
 
 #include "stdint.h"
-
+constexpr u8 FILTER_SIZE = 6;
 class sampler {
-	private:
-	float vbus_samples[7];
-	float currU_samples[7];
-	float currV_samples[7];
-	float currW_samples[7];
-	float mcu_temp_samples[7];
-	float drv_temp_samples[7];
+  private:
+	float vbus_samples[FILTER_SIZE + 1];
+	float currU_samples[FILTER_SIZE + 1];
+	float currV_samples[FILTER_SIZE + 1];
+	float currW_samples[FILTER_SIZE + 1];
+	float mcu_temp_samples[FILTER_SIZE + 1];
+	float drv_temp_samples[FILTER_SIZE + 1];
 
 	float tempora_sample;
+
   public:
 	void init();
 	void update_mcu_temp(void);
 	void update_drv_temp(void);
 	void update_vbus_voltage(void);
 	void update_current(void);
-	
+
 	float get_mcu_temp(void);
 	float get_drv_temp(void);
 	float get_vbus_voltage(void);
 	float get_current(char);
-
 };
 
 #ifdef __cplusplus