优化了平衡，尤其对于向后倾倒的几种极限情况进行优化

Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_api.h

@@ -0,0 +1,46 @@
+#ifndef HARDWARE_UTILS_CURRENT_H
+#define HARDWARE_UTILS_CURRENT_H
+
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+
+/**
+ *  function reading an ADC value and returning the read voltage
+ *
+ * @param pinA - the arduino pin to be read (it has to be ADC pin)
+ */
+float _readADCVoltageInline(const int pinA);
+
+/**
+ *  function reading an ADC value and returning the read voltage
+ *
+ * @param pinA - adc pin A
+ * @param pinB - adc pin B
+ * @param pinC - adc pin C
+ */
+void _configureADCInline(const int pinA,const int pinB,const int pinC = NOT_SET);
+
+/**
+ *  function reading an ADC value and returning the read voltage
+ *
+ * @param pinA - adc pin A
+ * @param pinB - adc pin B
+ * @param pinC - adc pin C
+ */
+void _configureADCLowSide(const int pinA,const int pinB,const int pinC = NOT_SET);
+
+void _startADC3PinConversionLowSide();
+
+/**
+ *  function reading an ADC value and returning the read voltage
+ *
+ * @param pinA - the arduino pin to be read (it has to be ADC pin)
+ */
+float _readADCVoltageLowSide(const int pinA);
+
+/**
+ *  function syncing the Driver with the ADC  for the LowSide Sensing
+ */
+void _driverSyncLowSide();
+
+#endif