FFai

st = _sin(angle); ct = _cos(angle); Cache the results of trigonometric functions? Angle does not change between samples。 Clarke transform：src\BLDCMotor.cpp Line 546. Inverse clarke transform：src\common\base_classes\CurrentSense.cpp Line 42. // function approximating...

1. mechanic_angle & mechanic_angle_prev from 0° ~ 360°. 2. The angle changes from -180° to +180°. 3. rotation_cnt for angle control. step 1: if(mechanic_angle > mechanic_angle_prev + 180){ mechanic_angle -=...