amikhalev/uas-ugv
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runs motors at full freq

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This commit is contained in:
Alex Mikhalev 2019-04-25 18:27:14 -07:00
parent 2ab357b4fc
commit 06310ab7ac
1 changed files with 1 additions and 1 deletions
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2
main/ugv_io.cc
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@ -51,7 +51,7 @@ void IOClass::InitMotors() {
ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM)); ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM));
mcpwm_config_t mcpwm_config; mcpwm_config_t mcpwm_config;
mcpwm_config.frequency = 10000; // 20khz mcpwm_config.frequency = 20000; // 20khz
mcpwm_config.cmpr_a = 0; mcpwm_config.cmpr_a = 0;
mcpwm_config.cmpr_b = 0; mcpwm_config.cmpr_b = 0;
mcpwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // for symmetric pwm mcpwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // for symmetric pwm