v1.3增加一个简单的越障模式

v1.3/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h

@@ -0,0 +1,65 @@
+#ifndef BLDCDriver3PWM_h
+#define BLDCDriver3PWM_h
+
+#include "../common/base_classes/BLDCDriver.h"
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+#include "../common/defaults.h"
+#include "hardware_api.h"
+
+/**
+ 3 pwm bldc driver class
+*/
+class BLDCDriver3PWM: public BLDCDriver
+{
+  public:
+    /**
+      BLDCDriver class constructor
+      @param phA A phase pwm pin
+      @param phB B phase pwm pin
+      @param phC C phase pwm pin
+      @param en1 enable pin (optional input)
+      @param en2 enable pin (optional input)
+      @param en3 enable pin (optional input)
+    */
+    BLDCDriver3PWM(int phA,int phB,int phC, int en1 = NOT_SET, int en2 = NOT_SET, int en3 = NOT_SET);
+    
+    /**  Motor hardware init function */
+  	int init() override;
+    /** Motor disable function */
+  	void disable() override;
+    /** Motor enable function */
+    void enable() override;
+
+    // hardware variables
+  	int pwmA; //!< phase A pwm pin number
+  	int pwmB; //!< phase B pwm pin number
+  	int pwmC; //!< phase C pwm pin number
+    int enableA_pin; //!< enable pin number
+    int enableB_pin; //!< enable pin number
+    int enableC_pin; //!< enable pin number
+    bool enable_active_high = true;
+
+    /** 
+     * Set phase voltages to the harware 
+     * 
+     * @param Ua - phase A voltage
+     * @param Ub - phase B voltage
+     * @param Uc - phase C voltage
+    */
+    void setPwm(float Ua, float Ub, float Uc) override;
+
+    /** 
+     * Set phase voltages to the harware 
+     * 
+     * @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) override;
+  private:
+        
+};
+
+
+#endif