From 06310ab7ac0c6d46a775c378957b2ca0adb7e7c9 Mon Sep 17 00:00:00 2001 From: Alex Mikhalev Date: Thu, 25 Apr 2019 18:27:14 -0700 Subject: [PATCH] runs motors at full freq --- main/ugv_io.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/main/ugv_io.cc b/main/ugv_io.cc index fd9c8b3..34e1d5e 100644 --- a/main/ugv_io.cc +++ b/main/ugv_io.cc @@ -51,7 +51,7 @@ void IOClass::InitMotors() { ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM)); mcpwm_config_t mcpwm_config; - mcpwm_config.frequency = 10000; // 20khz + mcpwm_config.frequency = 20000; // 20khz mcpwm_config.cmpr_a = 0; mcpwm_config.cmpr_b = 0; mcpwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // for symmetric pwm