OBS_MOT.h
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#ifndef __OBS_MOT_H__
#define __OBS_MOT_H__
#include "stdint.h"
// OBS Data Define
//Operational Behavior Supervisor
typedef struct
{
uint16_t raw_angle;
uint16_t raw_angle_F;
uint16_t raw_angle_F1;
uint16_t raw_angle_F2;
} MGE_OBS_S;
typedef struct
{
MGE_OBS_S mge;
float actual_Angle;
float actual_Angle_F;
float actual_Angle_F1;
float el_Angle;
float el_Angle_F;
float actual_Velocity;
float actual_Velocity_LP;
float actual_Velocity_KPF;
//Vel Loop PassTime
float vel_TS;
//Traget variable
float Set_Velocity;
float Set_Angle;
//Motor About
float Uq;
} MOTOR_OBS_S;
extern MOTOR_OBS_S motor_obs;
#endif