v1.5增加一个舵机控制前档，实现踢球效果。

v1.5/lib/Simple_FOC/src/common/base_classes/CurrentSense.h

@@ -0,0 +1,67 @@
+#ifndef CURRENTSENSE_H
+#define CURRENTSENSE_H
+
+#include "BLDCDriver.h"
+#include "../foc_utils.h"
+
+/**
+ *  Current sensing abstract class defintion
+ * Each current sensoring implementation needs to extend this interface
+ */
+class CurrentSense{
+    public:
+
+    /**
+     *  Function intialising the CurrentSense class
+     *   All the necessary intialisations of adc and sync should be implemented here
+     */
+    virtual void init() = 0;
+    
+    /**
+     * Function intended to implement all that is needed to sync and current sensing with the driver.
+     * If no such thing is needed it can be left empty (return 1)
+     * @returns -  0 - for failure &  1 - for success 
+     */
+    virtual int driverSync(BLDCDriver *driver) = 0;
+
+    // calibration variables
+    bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
+    /**
+     * Function intended to verify if:
+     *   - phase current are oriented properly 
+     *   - if their order is the same as driver phases
+     * 
+     * This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1)
+     * @returns -  0 - for failure &  positive number (with status) - for success 
+     */
+    virtual int driverAlign(BLDCDriver *driver, float voltage) = 0;
+
+    /**
+     *  Function rading the phase currents a, b and c
+     *   This function will be used with the foc control throught the function 
+     *   CurrentSense::getFOCCurrents(electrical_angle)
+     *   - it returns current c equal to 0 if only two phase measurements available
+     * 
+     *  @return PhaseCurrent_s current values
+     */
+    virtual PhaseCurrent_s getPhaseCurrents() = 0;
+    /**
+     * Function reading the magnitude of the current set to the motor
+     *  It returns the abosolute or signed magnitude if possible
+     *  It can receive the motor electrical angle to help with calculation
+     *  This function is used with the current control  (not foc)
+     *  
+     * @param angle_el - electrical angle of the motor (optional) 
+     */
+    virtual float getDCCurrent(float angle_el = 0);
+
+    /**
+     * Function used for FOC contorl, it reads the DQ currents of the motor 
+     *   It uses the function getPhaseCurrents internally
+     * 
+     * @param angle_el - motor electrical angle
+     */
+    DQCurrent_s getFOCCurrents(float angle_el);
+};
+
+#endif