v1.3增加一个简单的越障模式

v1.3/lib/Simple_FOC/src/common/base_classes/BLDCDriver.h

@@ -0,0 +1,46 @@
+#ifndef BLDCDRIVER_H
+#define BLDCDRIVER_H
+
+#include "Arduino.h"
+
+class BLDCDriver{
+    public:
+
+        /** Initialise hardware */
+        virtual int init() = 0;
+        /** Enable hardware */
+        virtual void enable() = 0;
+        /** Disable hardware */
+        virtual void disable() = 0;
+
+        long pwm_frequency; //!< pwm frequency value in hertz
+        float voltage_power_supply; //!< power supply voltage
+        float voltage_limit; //!< limiting voltage set to the motor
+
+
+        float dc_a; //!< currently set duty cycle on phaseA
+        float dc_b; //!< currently set duty cycle on phaseB
+        float dc_c; //!< currently set duty cycle on phaseC
+
+        bool initialized = false; // true if driver was successfully initialized
+
+        /**
+         * Set phase voltages to the harware
+         *
+         * @param Ua - phase A voltage
+         * @param Ub - phase B voltage
+         * @param Uc - phase C voltage
+        */
+        virtual void setPwm(float Ua, float Ub, float Uc) = 0;
+
+        /**
+         * Set phase state, enable/disable
+         *
+         * @param sc - phase A state : active / disabled ( high impedance )
+         * @param sb - phase B state : active / disabled ( high impedance )
+         * @param sa - phase C state : active / disabled ( high impedance )
+        */
+        virtual void setPhaseState(int sa, int sb, int sc) = 0;
+};
+
+#endif