From ff800492a66fff95d9fadeb252496d5698a8a28c Mon Sep 17 00:00:00 2001 From: Alex Mikhalev Date: Wed, 13 Feb 2019 18:42:25 -0800 Subject: [PATCH] minor motor control fixes --- main/ugv_io.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/main/ugv_io.cc b/main/ugv_io.cc index c1f0e2b..95e78fa 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 = 20000; // 20khz + mcpwm_config.frequency = 10000; // 20khz mcpwm_config.cmpr_a = 0; mcpwm_config.cmpr_b = 0; mcpwm_config.counter_mode = MCPWM_UP_DOWN_COUNTER; // for symmetric pwm @@ -68,12 +68,12 @@ void IOClass::ReadInputs(Inputs &inputs) { void IOClass::WriteOutputs(const Outputs &outputs) { esp_err_t ret; ret = mcpwm_set_duty(MCPWM_UNIT, MCPWM_TIMER_0, MCPWM_OPR_A, - fabsf(outputs.left_motor * 100.0)); + fabsf(outputs.left_motor * 100.0f)); ERROR_CHECK(ret); ret = mcpwm_start(MCPWM_UNIT, MCPWM_TIMER_0); ERROR_CHECK(ret); ret = mcpwm_set_duty(MCPWM_UNIT, MCPWM_TIMER_1, MCPWM_OPR_A, - fabsf(outputs.right_motor * 100.0)); + fabsf(outputs.right_motor * 100.0f)); ERROR_CHECK(ret); ret = mcpwm_start(MCPWM_UNIT, MCPWM_TIMER_1); ERROR_CHECK(ret);