X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fmotor_ctrl%2Fmain.c;h=16c8b0cc2d0c2a51d364d00b603270f79d58e20a;hp=a9565871f0058d7f2585f28ea5f2ca64b55694ca;hb=5077968a53d2753a51d0d765275259468fa012b2;hpb=a5fb41902fd2065d475f1b2f618c6428a44f6cd7

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index a956587..16c8b0c 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -97,7 +97,7 @@
  */
 
 
-#define KP 0.061
+#define KP 0.062
 #define KI 0.12
 #define KD 0.0
 #define PID_T 0.01
@@ -1043,8 +1043,8 @@ int main(void) {
 	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
@@ -1125,7 +1125,7 @@ int main(void) {
 			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();