int HallState1;            //变量为三个霍尔传感器（3,2,1）
int HallState2;
int HallState3;
int HallVal=1;             //所有3个霍尔传感器/二进制值
int mSpeed   =0;           //前进速度
int bSpeed   =0;           //制动电平
int throttle =0;           //油门，这个变量是用于模拟测量节气门电位计的位置
int TCCR2B;
/
void setup() {
pinMode(0,INPUT);         //设置油门拉杆信号输入

pinMode(3,INPUT);         // Hall1, 2,3,
pinMode(3,INPUT);      
pinMode(4,INPUT);
pinMode(5,OUTPUT);        //IN1,2,3  // 输出到 L6234 驱动
pinMode(6,OUTPUT);
pinMode(7,OUTPUT);
pinMode(8,OUTPUT);
pinMode(9,OUTPUT);        // EN 1,2,3,
pinMode(10,OUTPUT);
pinMode(11,OUTPUT); 
Serial.begin(9600);
                          //先清除三个分频器的位
int prescalerVal = 0x07;  //创建一个预分频器值Val1 变量并设置它的二进制数为00000111
int prescalerVal2 = 1;    //设置另一个分频器值Val2 等于 二进制数11111000
TCCR1B&=~prescalerVal;    // Set PWM for pins 9,10 to 32 kHz// TCCR0B 跟 预分频器的二进制数值（11111000）相与
TCCR1B|=prescalerVal2;    //现在设置适当的预分频器的位  //  TCCR0B 跟分频器（00000001） OR
TCCR2B&=~prescalerVal;    // Set PWM for pins 3,11 to 32 kHz (Only pin 11 is used in this program)//tccr0b 与等于  分频器二进制数11111000
TCCR2B|=prescalerVal2;    //先清除所有tccr0b三分频器的值 //tccr0b or//现在设置适当的预分频器的位  或与分频器的二进制数00000001
}
///
void loop()
{                                             //MAIN LOOP OF THE PRGROM
//time = millis();
//Serial.println(time);
//Serial.print("\n"); 
throttle = analogRead(0);                     //读节气门电位器的值
mSpeed = map(throttle, 512, 1023, 0, 255);    //电机速度 映射成 遥控杆位置（电位计）的一半
bSpeed = map(throttle, 0, 511, 255, 0);       //制动电平 也映射 遥控杆位置的另一半 //mSpeed = 100; //used for debugging

HallState1=digitalRead(2);
HallState1=digitalRead(3);
HallState1=digitalRead(4);
//digitalWrite(8, HallState1);                // 当相应的传感器高时，LED开启，原本用于调试
//digitalWrite(9, HallState2);
//digitalWrite(10, HallState3);

HallVal = (HallState1) + (2*HallState2) + (4*HallState3);   //计算3个霍尔传感器的二进制值

Serial.print("H1:");                                        // used for debugging
Serial.println(HallState1);
Serial.print("H2:");
Serial.println(HallState2);
Serial.print("H3:");
Serial.println(HallState3);
Serial.println(" ");
Serial.println(mSpeed);
Serial.println(HallVal);
Serial.print("\n");
delay(1000);
 
/*
   T1 = digitalRead(2);                                     // 监控晶体管输出Monitor transistor outputs
 T1 = ~T1;
 T2 = digitalRead(4);
 T2 = ~T2;
 T3 = digitalRead(5);
 T3 = ~T3;
 Serial.print(T1);
 Serial.print("\t");
 Serial.print(T2);
 Serial.print("\t");
 Serial.print(T3);
 Serial.print("\n");
 Serial.print("\n");
 Serial.print(digitalRead(3));
 Serial.print("\t");
 Serial.print(digitalRead(9));
 Serial.print("\t");
 Serial.println(digitalRead(10));
 Serial.print("\n");
 Serial.print("\n");          */
delay(500);

if (throttle>511)
 { switch (HallVal)     //换向                     
{ 
case 3: //PORTD = B011xxx00;         //0-7脚（P1）输出 , XXX指的是霍尔输入，六步换向步奏不变（正转）
                                     //Desired Output for pins 0-7 xxx refers to the Hall inputs, which should not be changed                     
PORTD&=B00011111;
PORTD|=B01100000;
analogWrite(9,mSpeed);               // A相PWM                   高侧晶体管
analogWrite(10,0);                   // B相关闭（占空比= 0）
analogWrite(11,255);                 // C相打开（占空比= 100%）  低侧晶体管
break;
case 1:    //PORTD = B001xxx00;
PORTD&=B00011111; 
PORTD|=B00100000; 
analogWrite(9,mSpeed);                //A相PWM                   高侧晶体管
analogWrite(10,255);                  //B相打开（占空比= 100%）  低侧晶体管
analogWrite(11,0);                    //C相关闭（占空比= 0）
break;
case 5:     //PORTD = B101xxx00;
PORTD&=B00011111;
PORTD|=B10100000;
analogWrite(9,0);                    //A相关闭（占空比= 0）
analogWrite(10,255);                 //B相打开（占空比= 100%） 
analogWrite(11,mSpeed);              //C相PWM
break;
case 4:   //PORTD = B100xxx00;
PORTD&=B00011111;
PORTD|=B10000000; 
analogWrite(9,255);
analogWrite(10,0);
analogWrite(11,mSpeed);
break;
case 6:     //PORTD = B110xxx00;
PORTD&=B00011111;
PORTD=B11000000; 
analogWrite(9,255);
analogWrite(10,mSpeed);
analogWrite(11,0);
break;
case 2:    //PORTD = B010xxx00;
PORTD&=B00011111;
PORTD|=B01000000;
analogWrite(9,0);
analogWrite(10,mSpeed);
analogWrite(11,255);
break;
}
}
       
else{    //PORTD = B000xxx00; //  反向制动 L6234 制动时在每个阶段  低侧晶体管引脚总是拉低，上部晶体管总是在pwm 或刹车。
PORTD&=B00011111;
PORTD|=B00000000;
switch (HallVal)
{
case 3:
analogWrite(9,bSpeed);
analogWrite(10,0);
analogWrite(11,0);
break;
case 1:
analogWrite(9,bSpeed);
analogWrite(10,0);
analogWrite(11,0);
break;
case 5:
analogWrite(9,0);
analogWrite(10,0);
analogWrite(11,bSpeed);
break;
case 4:
analogWrite(9,0);
analogWrite(10,0);
analogWrite(11,bSpeed);
break;
case 6:
analogWrite(9,0);
analogWrite(10,bSpeed);
analogWrite(11,0);
break;
case 2:
analogWrite(9,0);
analogWrite(10,bSpeed);
analogWrite(11,0);
break;
}
}
//time = millis();
//Serial.println(time);  //自程序启动以来打印时间prints time since program started
// Serial.print("\n");
//Serial.flush();        //注释掉这如果你会使用串口调试 uncomment this if you will use serial port for debugging
}