帮我写一个马达驱动的矢量算法的 C 代码

当然可以，以下是一个基于空间矢量运算实现的简单的马达矢量控制算法的C代码：

#include <stdio.h>
#include <math.h>

#define PI 3.14159265358979323846

//定义向量结构体
typedef struct {
    float x;
    float y;
} Vector;

//定义空间向量结构体
typedef struct {
    float x;
    float y;
    float z;
} SpaceVector;

//定义电机参数结构体
typedef struct {
    float phaseA;
    float phaseB;
    float phaseC;
} MotorParams;

//定义矢量旋转函数
Vector rotate(Vector v, float angle) {
    Vector result;
    result.x = v.x * cos(angle) - v.y * sin(angle);
    result.y = v.x * sin(angle) + v.y * cos(angle);
    return result;
}

//定义矢量叠加函数
Vector add(Vector v1, Vector v2) {
    Vector result;
    result.x = v1.x + v2.x;
    result.y = v1.y + v2.y;
    return result;
}

//定义空间向量叉积函数
SpaceVector cross(SpaceVector v1, SpaceVector v2) {
    SpaceVector result;
    result.x = v1.y * v2.z - v1.z * v2.y;
    result.y = v1.z * v2.x - v1.x * v2.z;
    result.z = v1.x * v2.y - v1.y * v2.x;
    return result;
}

//定义矢量归一化函数
Vector normalize(Vector v) {
    float length = sqrt(v.x * v.x + v.y * v.y);
    Vector result;
    if (length > 0) {
        result.x = v.x / length;
        result.y = v.y / length;
    } else {
        result.x = 0;
        result.y = 0;
    }
    return result;
}

//定义计算矢量控制值函数
MotorParams calculateVectorControl(float theta) {
    MotorParams result;
    float cosTheta = cos(theta);
    float sinTheta = sin(theta);
    Vector v1 = { cosTheta, sinTheta };
    Vector v2 = rotate(v1, 2.0 * PI / 3.0);
    Vector v3 = rotate(v1, -2.0 * PI / 3.0);
    Vector Va = normalize(add(add(v1, v2), v3));
    Vector Vb = normalize(add(add(v1, rotate(v2, -2.0 * PI / 3.0)), rotate(v3, 2.0 * PI / 3.0)));
    Vector Vc = normalize(add(add(v1, rotate(v2, 2.0 * PI / 3.0)), rotate(v3, -2.0 * PI / 3.0)));
    result.phaseA = Va.x;
    result.phaseB = Vb.x;
    result.phaseC = Vc.x;
    return result;
}

int main() {
    float theta = PI / 6.0; //设置电机转角
    MotorParams params = calculateVectorControl(theta); //计算矢量控制值
    printf("Phase A: %f\nPhase B: %f\nPhase C: %f\n", params.phaseA, params.phaseB, params.phaseC); //输出矢