*/
-#define KP 0.061
+#define KP 0.062
#define KI 0.12
#define KD 0.0
#define PID_T 0.01
TWI_RESET;
// Motor 1 & 2
- // Also used for PWM frequency TIMER1_FREQ
- // Timer 1: Fast PWM non-inverting mode, Top=255 => 15.625kHz
+ // Also used for PWM frequency TIMER1_FREQ (F_CPU/256)
+ // Timer 1: Fast PWM non-inverting mode, Top=255 => 19.531kHz
// Prescaler=1
//TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
// Avoid narrow spike on extreme pwm value 0 by not setting COM1*1
motor4_mode = MOTOR_PID;
}
- if (run_update >= 156) { // TIMER1_FREQ/156 = ~100Hz
+ if (run_update >= 195) { // TIMER1_FREQ/195 = ~100Hz
run_update=0;
update_pos();