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/defaults.h

@@ -0,0 +1,49 @@
+// default configuration values
+// change this file to optimal values for your application
+
+#define DEF_POWER_SUPPLY 12.0f //!< default power supply voltage
+// velocity PI controller params
+#define DEF_PID_VEL_P 0.5f //!< default PID controller P value
+#define DEF_PID_VEL_I 10.0f //!<  default PID controller I value
+#define DEF_PID_VEL_D 0.0f //!<  default PID controller D value
+#define DEF_PID_VEL_RAMP 1000.0f //!< default PID controller voltage ramp value
+#define DEF_PID_VEL_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
+
+// current sensing PID values
+#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega328PB__)  || defined(__AVR_ATmega2560__)
+// for 16Mhz controllers like Arduino uno and mega
+#define DEF_PID_CURR_P 2 //!< default PID controller P value
+#define DEF_PID_CURR_I 100 //!<  default PID controller I value
+#define DEF_PID_CURR_D 0.0f //!<  default PID controller D value
+#define DEF_PID_CURR_RAMP 1000.0f //!< default PID controller voltage ramp value
+#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
+#define DEF_CURR_FILTER_Tf 0.01f //!< default velocity filter time constant
+#else
+// for stm32, due, teensy, esp32 and similar
+#define DEF_PID_CURR_P 3 //!< default PID controller P value
+#define DEF_PID_CURR_I 300.0f //!<  default PID controller I value
+#define DEF_PID_CURR_D 0.0f //!<  default PID controller D value
+#define DEF_PID_CURR_RAMP 0  //!< default PID controller voltage ramp value
+#define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
+#define DEF_CURR_FILTER_Tf 0.005f //!< default currnet filter time constant
+#endif
+// default current limit values
+#define DEF_CURRENT_LIM 2.0f //!< 2Amps current limit by default
+
+// default monitor downsample
+#define DEF_MON_DOWNSMAPLE 100 //!< default monitor downsample
+#define DEF_MOTION_DOWNSMAPLE 0 //!< default motion downsample - disable
+
+// angle P params
+#define DEF_P_ANGLE_P 20.0f //!< default P controller P value
+#define DEF_VEL_LIM 20.0f //!< angle velocity limit default
+
+// index search
+#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1.0f //!< default index search velocity
+// align voltage
+#define DEF_VOLTAGE_SENSOR_ALIGN 3.0f //!< default voltage for sensor and motor zero alignemt
+// low pass filter velocity
+#define DEF_VEL_FILTER_Tf 0.005 //!< default velocity filter time constant
+
+// current sense default parameters
+#define DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf 0.0f  //!< default currnet sense per phase low pass filter time constant