Slide 22
Slide 22 text
▪۩ମతࣄྫ
1) ϗʔϧηϯα→௨ిύλʔϯઃఆ
ɹΫϥεਤͬΆ͍ਤΛॻ͖ɺཧ͢Δɻ
ຊͷςʔϚ
ʲ֓ཁઃܭ͔Βৄࡉઃܭ͢Δʳ
22
※hall_sensor_bitmap: Hall W=2bit, Hall V=1bit, Hall U=0bit
HallηϯαͷಡΈࠐΈΛ2ʙ0bitʹϚοϐϯάͨ͠ɻ௨ిεςʔδ1Ͱ͋Ε0x05(Hall W=1, Hall V=0, Hall U=1)
※pwm_duty: λΠϛϯάνϟʔτͷPWM੍ޚΛߦ͏ظؒͰઃఆ͢ΔPWM Duty(%)ɻ0ʙ100Ͱࢦఆɻ͜ͷਤʹొ͠ͳ͍͕
ΞΫηϧͷ։͖۩߹ʹΑΓPWM DutyΛܾΊΔɻmotor_driver0ʙ100(%)ͷPWM DutyΛϚΠίϯػೳͷઃఆ(Ϟʔλ੍ޚ
ػೳͷλΠϚΧϯτͳͲ)ʹม͠ઃఆ͢ΔΛ࣋ͭɻPWM 100%Λ࣮ݱ͢ΔͨΊͷϚΠίϯઃఆ400ɺ800ͩͬͨ
ΓϚΠίϯɾΫϩοΫʹΑΓมΘͬͯ͘Δɺͱ͍͏ɻ