Diff: BLDCmotorDriver.cpp

Revision:

5:cf8183ae80ef

Parent:

3:a4b4a8e3f2a0

Child:

6:959e725b6be9

--- a/BLDCmotorDriver.cpp	Mon Jun 01 13:47:23 2015 +0000
+++ b/BLDCmotorDriver.cpp	Fri Mar 13 01:07:30 2020 +0000
@@ -9,7 +9,7 @@
     switchingPeriod = 1.0 / 20e3;
     dutyCycle = tempDutyCycle = 0;
     GH_A.period(switchingPeriod); // applies to all PwmOut instances
-    rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
+//    rl.setLimits(0.1, -0.5, 0, sampleTime); // initial 10 second ramp
     //H1.mode(PullNone);
     //H2.mode(PullNone);
     //H3.mode(PullNone);
@@ -77,105 +77,105 @@
         switch(currentSector) {  
         
           case 0:               //001     
-                GH_A = dutyCycle;
-                GL_A = 0;
-                GH_B = 0;
+                GL_C = 0;                
                 GL_B = 0;
+                GL_A = 1;
                 GH_C = 0;
-                GL_C = 1;
+                GH_B = dutyCycle;
+                GH_A = 0;
                 break;
            case 1:            
-                GH_A = 0;
+                GL_C = 1;
+                GL_B = 0;
                 GL_A = 0;
+                GH_C = 0;
                 GH_B = dutyCycle;
-                GL_B = 0;
-                GH_C = 0;
-                GL_C = 1; 
+                GH_A = 0; 
                 break;
            case 2:             
-                GH_A = 0;
-                GL_A = 1;
-                GH_B = dutyCycle;
+                GL_C = 1;
                 GL_B = 0;
+                GL_A = 0;
                 GH_C = 0;
-                GL_C = 0;
+                GH_B = 0;
+                GH_A = dutyCycle;
                 break;
             case 3:             
-                GH_A = 0;
-                GL_A = 1;
+                GL_C = 0;
+                GL_B = 1;
+                GL_A = 0;
+                GH_C = 0;
                 GH_B = 0;
-                GL_B = 0;
-                GH_C = dutyCycle;
-                GL_C = 0;
+                GH_A = dutyCycle;
                 break;
             case 4:              
-                GH_A = 0;
+                GL_C = 0;
+                GL_B = 1;
                 GL_A = 0;
+                GH_C = dutyCycle;
                 GH_B = 0;
-                GL_B = 1;
-                GH_C = dutyCycle;
-                GL_C = 0; 
+                GH_A = 0;
                 break;    
             case 5:              
-                GH_A = dutyCycle;
-                GL_A = 0;
+                GL_C = 0;
+                GL_B = 0;
+                GL_A = 1;
+                GH_C = dutyCycle;
                 GH_B = 0;
-                GL_B = 1;
-                GH_C = 0;
-                GL_C = 0; 
+                GH_A = 0;
                 break;
         }
     } else if (dutyCycle < 0) { 
         currentSector--;
         if(currentSector < 0)currentSector = 5;
         switch(currentSector) {
-          case 0:              
-                GH_A = -dutyCycle;
-                GL_A = 0;
-                GH_B = 0;
-                GL_B = 1;
-                GH_C = 0;
-                GL_C = 0; 
+          case 0:
+                GL_C = 0;
+                GL_B = 0;
+                GL_A = 1;
+                GH_C = -dutyCycle;
+                GH_B = 0;              
+                GH_A = 0;
                 break;
           case 1:                 
-                GH_A = -dutyCycle;
-                GL_A = 0;
-                GH_B = 0;
+                GL_C = 0;
                 GL_B = 0;
+                GL_A = 1;
                 GH_C = 0;
-                GL_C = 1;
-                break;
-           case 2:            
-                GH_A = 0;
-                GL_A = 0;
-                GH_B = -dutyCycle;
-                GL_B = 0;
-                GH_C = 0;
-                GL_C = 1; 
-                break;
-           case 3:             
-                GH_A = 0;
-                GL_A = 1;
                 GH_B = -dutyCycle;
+                GH_A = 0;
+                break;
+           case 2:
+                GL_C = 1;
                 GL_B = 0;
+                GL_A = 0;
                 GH_C = 0;
-                GL_C = 0;
+                GH_B = -dutyCycle;            
+                GH_A = 0;
                 break;
-            case 4:             
-                GH_A = 0;
-                GL_A = 1;
+           case 3:
+                GL_C = 1;
+                GL_B = 0;
+                GL_A = 0;
+                GH_C = 0;
+                GH_B = 0;      
+                GH_A = -dutyCycle;
+                break;
+            case 4:
+                GL_C = 0;
+                GL_B = 1;
+                GL_A = 0;
+                GH_C = 0;
                 GH_B = 0;
-                GL_B = 0;
+                GH_A = -dutyCycle;
+                break;
+            case 5:
+                GL_C = 0;
+                GL_B = 1;
+                GL_A = 0;
                 GH_C = -dutyCycle;
-                GL_C = 0;
-                break;
-            case 5:              
+                GH_B = 0;     
                 GH_A = 0;
-                GL_A = 0;
-                GH_B = 0;
-                GL_B = 1;
-                GH_C = -dutyCycle;
-                GL_C = 0; 
                 break;    
                 }                
         }else {