function Igates, DC]=fcn (Hall, Speed Idc,Setpoint)
persistent e int; persistent e_ old; if isempty (e_int)
e_그nt = 0;
e_ old = 0;
end
TS= 1/8000；
gates - zeros (6,1) ;
K_p =0.01：
K_1 = 0.01；
K d = 0;
I max = 200;
u max =1：
u min = 0;
hall = Hall (1) *4 + Hall (2) *2 + Hall (3) ;
sHall switching table switch hall
case 1
gates = [0; 0;0;1;1;0];
case 2
gates = ［0:1;1:0:0:01：
case 3
gates = ［0:1;0:0:1:01：
case
4
gates = [1:0:0:0:0:1]:
case
5
gates - [1;0;0;1;0;0];
case
case 6
otherwise
gates = [0;0;1;0;0;1];
gates = ［0;0:0:0:0:01：
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end
& PID controller
e = Setpoint - Speed;
e_int = e_ int + e * K i * Ts;
if e
_int >= u max
e int = u max;
elseif elint < u_min
e_int = u min;
end
u = Kp *e + e
int + (e - e_old) * K_d / Is;
e old = e;
if u › u max
u= u max;
elseif
u < 0
0;
end
DC
u;

не заходи в доту больше сын пса бездомного

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