Diff: BLDCmotorDriver.h

Revision:

6:51643d078474

Parent:

3:a4b4a8e3f2a0

--- a/BLDCmotorDriver.h	Fri Mar 13 01:07:30 2020 +0000
+++ b/BLDCmotorDriver.h	Fri Aug 21 08:29:01 2020 +0000
@@ -1,29 +1,37 @@
 #include "mbed.h"
-#include "RateLimiter.h"
 
 class BLDCmotorDriver {
     public:
         BLDCmotorDriver(PinName GH_A, PinName GL_A, PinName GH_B, PinName GL_B, PinName GH_C, PinName GL_C, PinName h1, PinName h2, PinName h3, PinName Fault);    
         void configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope);
         void setDutyCycle(float dutyCycle);
+        void setDirection(float direction); //方向決定スイッチ
         void coast();
         float getDutyCycle();
         int getSector();
         void ispis();
+        short HS_cnt;   //short(min:-32768 max: 32767)で充分   //intとかshortのサイズについて：https://os.mbed.com/users/mbed714/notebook/integer-types-int-long-and-long-long/
+        bool HS_check;  //0か1にしかならなｋためboolで宣言
+        int HS_usec;
+        int rpm_a, rpm_b;  //ホールセンサカウンタ(速度計測用)
         
     private:
-        PwmOut GH_A, GH_B, GH_C;
-        DigitalOut GL_A, GL_B, GL_C; // Low-side gates are never PWM driven
+        PwmOut GL_A, GL_B, GL_C;       //←ハイサイド・ローサイドの変更
+        DigitalOut GH_A, GH_B, GH_C; // Low-side gates are never PWM driven
         InterruptIn H1; // InterruptIn can be used on all pins except p19 and p20
         InterruptIn H2; 
         InterruptIn H3;
-        RateLimiter rl;
+        Timer t;    //回転数用大麻
         Ticker ticker;
         float switchingPeriod, dutyCycle, tempDutyCycle, sampleTime;
+        int direction;
         void commutation();
-        int currentSector, _currentSector, previousSector, difference;
+        void H1rise();  //ホールセンサ1の立ち上がり時に飛ぶ関数(回転数計測用に使っている)
+        int currentSector, _currentSector;
         DigitalOut Fault;
         int h1, h2, h3;
+        
+        int n;
         //void adjustDutyCycle();
             
 };
\ No newline at end of file