minor motor control fixes

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);