feat(FOC): 优化开环速度控制逻辑并提升性能

refactor(ADC): 重构采样逻辑并封装为 sampler 类
refactor(CAN): 更新 CAN 发送器以使用新的sampler 接口
refactor(timer): 调整定时器中断结构并优化任务调度

Robot_V2/device/test.cpp

@@ -13,7 +13,7 @@
 #include <cstdio>
 
 constexpr int status_print = 0;
-
+extern sampler sampler;
 void test_1111() {
 	// 初始化CAN回环测试
 	// can_loopback_init();
@@ -21,13 +21,13 @@ void test_1111() {
 	if (status_print) {
 		/* value print */
 		printf(" the temperature data is %2.2f degrees Celsius\r\n",
-			   get_mcu_temp());
+			  sampler.get_mcu_temp());
 		printf(" the drv_temperature data is %2.2f degrees Celsius\r\n",
-			   get_drv_temp());
-		printf(" the U current data is %2.2f mA\r\n", get_current('U'));
-		printf(" the V current data is %2.2f mA\r\n", get_current('V'));
-		printf(" the W current data is %2.2f mA\r\n", get_current('W'));
-		printf(" the VBUS is %2.2f V\r\n", get_vbus_voltage());
+			   sampler.get_drv_temp());
+		printf(" the U current data is %2.2f mA\r\n", sampler.get_current('U'));
+		printf(" the V current data is %2.2f mA\r\n", sampler.get_current('V'));
+		printf(" the W current data is %2.2f mA\r\n", sampler.get_current('W'));
+		printf(" the VBUS is %2.2f V\r\n", sampler.get_vbus_voltage());
 		// printf(" the angle is %2.2f\r\n", tle5012b_read());
 
 		printf("\n----------------------------------------------------\n");