/**
SimpleFOC 闭环速度控制例程 测试库:SimpleFOC 2.1.1
1.在串口窗口中输入:T+速度(rad/s),便可驱动两个电机闭环转动
2.电机极对数:7
3.电机1引脚:[PWMA:26] [PWMB:27] [PWMC:14] [EN1:12]
AS5600_IIC编码器引脚:[SDA:19] [SCL:18]
电机2引脚: [PWMA:32] [PWMB:33] [PWMC:25] [EN:22]
AS5600_IIC编码器引脚:[SDA:23] [SCL:5]
4.IIC速度:400000UL
5.电机初始转速:target_velocity = 10rad/s
6.供电电压:voltage_power_supply = 12V
*/
#include <SimpleFOC.h>
MagneticSensorI2C AS5600_Sensor = MagneticSensorI2C(AS5600_I2C);//AS5600_I2C传感器
TwoWire AS5600_IIC = TwoWire(0);
BLDCMotor BLDC_Motor = BLDCMotor(7);//极对数
BLDCDriver3PWM BLDC_Motor_Driver = BLDCDriver3PWM(26, 27, 14, 12);//pwmA/pw