amikhalev/uas-ugv
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minor motor control fixes

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This commit is contained in:
Alex Mikhalev 2019-02-13 18:42:25 -08:00
parent dd86a105f3
commit ff800492a6
1 changed files with 3 additions and 3 deletions
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6
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 = 20000; // 20khz mcpwm_config.frequency = 10000; // 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
@ -68,12 +68,12 @@ void IOClass::ReadInputs(Inputs &inputs) {
void IOClass::WriteOutputs(const Outputs &outputs) { void IOClass::WriteOutputs(const Outputs &outputs) {
esp_err_t ret; esp_err_t ret;
ret = mcpwm_set_duty(MCPWM_UNIT, MCPWM_TIMER_0, MCPWM_OPR_A, 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); ERROR_CHECK(ret);
ret = mcpwm_start(MCPWM_UNIT, MCPWM_TIMER_0); ret = mcpwm_start(MCPWM_UNIT, MCPWM_TIMER_0);
ERROR_CHECK(ret); ERROR_CHECK(ret);
ret = mcpwm_set_duty(MCPWM_UNIT, MCPWM_TIMER_1, MCPWM_OPR_A, 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); ERROR_CHECK(ret);
ret = mcpwm_start(MCPWM_UNIT, MCPWM_TIMER_1); ret = mcpwm_start(MCPWM_UNIT, MCPWM_TIMER_1);
ERROR_CHECK(ret); ERROR_CHECK(ret);