完成了LKmotor模块的重构，优化了DJIMotor的反馈计算

modules/motor/LK9025.h

@@ -6,32 +6,60 @@
 #include "controller.h"
 #include "motor_def.h"
 
-#define LK_MOTOR_CNT 2
+#define LK_MOTOR_MX_CNT 4
+
 #define I_MIN -2000
 #define I_MAX 2000
+#define CURRENT_SMOOTH_COEF 0.9f
+#define SPEED_SMOOTH_COEF 0.85f
+#define REDUCTION_RATIO_DRIVEN 1
+#define ECD_ANGLE_COEF (360.0f/65536.0f)
 
 typedef struct // 9025
 {
-    uint16_t last_ecd;
-    uint16_t ecd;
-    int16_t speed_rpm;
-    int16_t real_current;
-    uint8_t temperate;
+    uint16_t last_ecd;// 上一次读取的编码器值
+    uint16_t ecd; // 
+    float angle_single_round; // 单圈角度
+    float speed_aps; // speed angle per sec(degree:°)
+    int16_t real_current; // 实际电流
+    uint8_t temperate; //温度,C°
 
-    PIDInstance *pid;
-    CANInstance *motor_can_instance;
+    float total_angle; // 总角度
+    int32_t total_round; //总圈数
 
-} driven_instance;
+} LKMotor_Measure_t;
 
-typedef enum
+typedef struct
 {
-    unused = 0,
-} driven_mode;
+    LKMotor_Measure_t measure;
 
-driven_instance *LKMotroInit(CAN_Init_Config_s config);
+    Motor_Control_Setting_s motor_settings;
 
-void DrivenControl(int16_t motor1_current, int16_t motor2_current);
+    float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
+    float *other_speed_feedback_ptr;
+    PIDInstance current_PID;
+    PIDInstance speed_PID;
+    PIDInstance angle_PID;
+    float pid_ref;
+
+    Motor_Working_Type_e stop_flag; // 启停标志
+
+    CANInstance* motor_can_ins;
+    
+}LKMotorInstance;
+
+
+LKMotorInstance *LKMotroInit(Motor_Init_Config_s* config);
+
+void LKMotorSetRef(LKMotorInstance* motor,float ref);
+
+void LKMotorControl();
+
+void LKMotorStop(LKMotorInstance *motor);
+
+void LKMotorEnable(LKMotorInstance *motor);
+
+void LKMotorSetRef(LKMotorInstance *motor,float ref);
 
-void SetDrivenMode(driven_mode cmd, uint16_t motor_id);
 
 #endif // LK9025_H