File content as of revision 0:85b285794bd5:

void FUNC_ACS_GENPWM(float M[3])
 {
     PwmOut PWM1(A0);        //Functions used to generate PWM signal 
       PwmOut PWM2(A1); 
        PwmOut PWM3(A2);                   //PWM output comes from pins p6
Serial pc1(USBTX, USBRX); 
     printf("\nEnterd PWMGEN function\n");
     float DCx = 0;         //Duty cycle of Moment in x, y, z directions
     float ix = 0;          //Current sent in x, y, z TR's
     float timep = 0.02 ;  
     float Mx=M[0];            //Time period is set to 0.02s  
                             //Moment in x, y, z directions
      
     
        ix = Mx * 0.3 ;      //Moment and Current always have the linear relationship
     
        if( ix>0&& ix < 0.006 )                     //Current and Duty cycle have the linear relationship between 1% and 100%
         {
             DCx =  6*1000000*pow(ix,4) - 377291*pow(ix,3) + 4689.6*pow(ix,2) + 149.19*ix - 0.0008;
             PWM1.period(timep);
             PWM1 = DCx/100 ;
         }
        else if( ix >= 0.006&& ix < 0.0116)
         { 
            DCx = 1*100000000*pow(ix,4) - 5*1000000*pow(ix,3) + 62603*pow(ix,2) - 199.29*ix + 0.7648;
            PWM1.period(timep);
            PWM1 = DCx/100 ;             
         }
        else if (ix >= 0.0116&& ix < 0.0624)
         {
              
            DCx = 212444*pow(ix,4) - 33244*pow(ix,3) + 1778.4*pow(ix,2) + 120.91*ix + 0.3878;
            PWM1.period(timep);
            PWM1 = DCx/100 ;            
         }
        else if(ix >= 0.0624&& ix < 0.555)
         {
            printf("\nACS entered if\n");
            DCx =  331.15*pow(ix,4) - 368.09*pow(ix,3) + 140.43*pow(ix,2) + 158.59*ix + 0.0338;
            PWM1.period(timep);
            PWM1 = DCx/100 ;            
         }
         else if(ix==0)
         {
             DCx = 0;
            PWM1.period(timep);
            PWM1 = DCx/100 ;            
         }
         else
         {
            // printf("!!!!!!!!!!Error!!!!!!!!!");
         }