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@ -51,7 +51,7 @@ void IOClass::InitMotors() {
@@ -51,7 +51,7 @@ void IOClass::InitMotors() {
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ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM)); |
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mcpwm_config_t mcpwm_config; |
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mcpwm_config.frequency = 10000; // 20khz
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mcpwm_config.frequency = 20000; // 20khz
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mcpwm_config.cmpr_a = 0; |
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mcpwm_config.cmpr_b = 0; |
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mcpwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // for symmetric pwm
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