// === Kommutációs táblázat (6 lépéses) ===
const int pwmPins[3] = {3, 5, 9};     // High side PWM: A, B, C
const int lowPins[3] = {4, 6, 10};    // Low side ON/OFF: A, B, C


const int commTable[6][3] = {
  {1, -1, 0},
  {1, 0, -1},
  {0, 1, -1},
  {-1, 1, 0},
  {-1, 0, 1},
  {0, -1, 1}
};
int getElectricalAngle() {
  long pos = encoderPos;
  int mechDeg = (pos * 360L) / encoderCPR;
  int elecDeg = (mechDeg * polePairs) % 360;
  return elecDeg;
}


void setCommutation(int step, int duty) {
  for (int i = 0; i < 3; i++) {
    int state = commTable[step][i];
    if (state == 1) {
      analogWrite(pwmPins[i], duty);
      digitalWrite(lowPins[i], LOW);
    } else if (state == -1) {
      digitalWrite(pwmPins[i], LOW);
      digitalWrite(lowPins[i], HIGH);
    } else {
      digitalWrite(pwmPins[i], LOW);
      digitalWrite(lowPins[i], LOW);
    }
  }
}



void setup() {
  // put your setup code here, to run once:
Serial.begin(115200);
  for (int i = 0; i < 3; i++) {
    pinMode(pwmPins[i], OUTPUT);
    pinMode(lowPins[i], OUTPUT);
  }


setCommutation(5, 127);

}

void loop() {
  // put your main code here, to run repeatedly:

}