feat(FOC): 添加开关机功能并优化定时器配置

2025-10-29 21:22:10 +08:00
parent 7f0ca1857b
commit 5d14731af5
6 changed files with 139 additions and 23 deletions
@@ -17,9 +17,12 @@ class FOC_Controlroller {
 	float limit_velocity = 0.0f;
 	float target_angle = 0.0f;
 	float target_velocity = 0.0f;
+	u8 is_shut_down = 0;

 	float velocity_open_loop(float target_velocity);
 	void DFOC_alignSensor(int _PP, int _DIR);
+	void shut_down(void);
+	void resume(void);

  private:
 	std::u64 last_time_us = 0;