├── DengFOC 库 ├── V0.1 电压力矩 位置闭环 │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ └── 例程 │ │ ├── 力位闭环（闭环位置）.ino │ │ └── 电压力矩环.ino ├── V0.2 位置 速度 电压力矩闭环 │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── DengFOC_Lib_Lesson7_CloseLoop_Vel.ino │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ ├── pid.h │ └── 例程 │ │ ├── 位置闭环（角度-速度-力矩）.ino │ │ ├── 电压力矩环.ino │ │ ├── 速度闭环.ino │ │ ├── 闭环位置（力位）-方式1.ino │ │ └── 闭环位置（力位）-方式2.ino ├── V0.4 用电流环改进了 位置 速度 闭环 │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── InlineCurrent.cpp │ ├── InlineCurrent.h │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ ├── pid.h │ └── 例程 │ │ ├── 位置闭环（角度-速度-力矩）.ino │ │ ├── 用电流环改进位置、速度、力矩.ino │ │ ├── 电压力矩环.ino │ │ ├── 电流力矩闭环.ino │ │ ├── 速度闭环.ino │ │ ├── 闭环位置（力位）-方式1.ino │ │ └── 闭环位置（力位）-方式2.ino ├── V0.5 双路电机驱动 │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── InlineCurrent.cpp │ ├── InlineCurrent.h │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ ├── pid.h │ └── 例程 │ │ ├── 位置闭环（角度-速度-力矩）.ino │ │ ├── 双电机闭环位置、速度、力矩.ino │ │ ├── 用电流环改进位置、速度、力矩.ino │ │ ├── 电压力矩环.ino │ │ ├── 电流力矩闭环.ino │ │ ├── 速度闭环.ino │ │ ├── 闭环位置（力位）-方式1.ino │ │ └── 闭环位置（力位）-方式2.ino ├── V0.6 支持SVPWM算法 │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── InlineCurrent.cpp │ ├── InlineCurrent.h │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ ├── pid.h │ └── 例程 │ │ ├── 位置闭环（角度-速度-力矩）.ino │ │ ├── 双电机闭环位置、速度、力矩.ino │ │ ├── 用电流环改进位置、速度、力矩.ino │ │ ├── 电压力矩环.ino │ │ ├── 电流力矩闭环.ino │ │ ├── 速度闭环.ino │ │ ├── 闭环位置（力位）-方式1.ino │ │ └── 闭环位置（力位）-方式2.ino └── v0.3 支持电流环 │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── InlineCurrent.cpp │ ├── InlineCurrent.h │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ ├── pid.h │ └── 例程 │ ├── 位置闭环（角度-速度-力矩）.ino │ ├── 电压力矩环.ino │ ├── 电流力矩闭环.ino │ ├── 速度闭环.ino │ ├── 闭环位置（力位）-方式1.ino │ └── 闭环位置（力位）-方式2.ino ├── LICENSE ├── README.md ├── pic └── mainTitle.png └── 【手把手教些FOC算法】系列课程代码 ├── 第七章a+b 闭环速度FOC代码-DengFOC库v0.2 └── 1 DengFOC库V0.2+实例 │ └── DengFOC_Lib_Lesson7_CloseLoop_Vel │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── DengFOC_Lib_Lesson7_CloseLoop_Vel.ino │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ └── pid.h ├── 第九章a+b 位置闭环，速度闭环升级版（加上电流环） └── 1 DengFOC库V0.4+实例 │ └── DengFOC_Lib_Lesson9_Current_Sense │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── DengFOC_Lib_Lesson9_Current_Sense.ino │ ├── InlineCurrent.cpp │ ├── InlineCurrent.h │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ └── pid.h ├── 第五章a+b 开环速度FOC代码 └── DengFOC_Lib_Lesson5_OpenLoop_Vel │ └── DengFOC_Lib_Lesson5_OpenLoop_Vel.ino ├── 第八章a+b 电流力矩闭环 └── 1 DengFOC库V0.3+实例 │ └── DengFOC_Lib_Lesson8_Current_Sense │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── DengFOC_Lib_Lesson8_Current_Sense.ino │ ├── InlineCurrent.cpp │ ├── InlineCurrent.h │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ └── pid.h ├── 第六章a+b 闭环位置FOC代码-DengFOC库v0.1 ├── 1 DengFOC库V0.1+实例（6b课程后半部分） │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ └── DengFOC_Lib_Lesson6_CloseLoop_Pos.ino └── 2 单文件实现闭环代码（6b课程前半部分） │ ├── AS5600.cpp │ ├── AS5600.h │ └── DengFOC_Lib_Lesson6_CloseLoop_Pos.ino ├── 第十一课a+b SVPWM的算法实现思路和框架 └── DengFOC_Lib_Lesson11_SVPWM │ ├── AS5600.cpp │ ├── AS5600.h │ ├── DengFOC.cpp │ ├── DengFOC.h │ ├── DengFOC_Lib_Lesson10_Dual_Motor_SVPWM.ino │ ├── InlineCurrent.cpp │ ├── InlineCurrent.h │ ├── lowpass_filter.cpp │ ├── lowpass_filter.h │ ├── pid.cpp │ └── pid.h └── 第十课a+b 双电机闭环FOC代码 └── DengFOC_Lib_Lesson10_Dual_Motor ├── AS5600.cpp ├── AS5600.h ├── DengFOC.cpp ├── DengFOC.h ├── DengFOC_Lib_Lesson10_Dual_Motor.ino ├── InlineCurrent.cpp ├── InlineCurrent.h ├── lowpass_filter.cpp ├── lowpass_filter.h ├── pid.cpp └── pid.h /DengFOC 库/V0.1 电压力矩 位置闭环/AS5600.cpp: 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