From 3dd520206788d28008ec911e7476a7730a9b6a78 Mon Sep 17 00:00:00 2001 From: "E.Hunckler" Date: Sat, 27 Jul 2024 19:43:10 -0500 Subject: [PATCH] - change PWM freq. to ~15kHz instead of ~1 MHz --- motor_driver.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/motor_driver.c b/motor_driver.c index c75e7bf..b511c42 100644 --- a/motor_driver.c +++ b/motor_driver.c @@ -36,6 +36,7 @@ void motor_driver_setup(void) // PWM Left gpio_set_function(PIN_LEFT_MOTOR_PWM, GPIO_FUNC_PWM); left_pwm_slice_num = pwm_gpio_to_slice_num(PIN_LEFT_MOTOR_PWM); + pwm_set_clkdiv_int_frac(left_pwm_slice_num, 61, 0); pwm_set_wrap(left_pwm_slice_num, 128); pwm_set_gpio_level(PIN_LEFT_MOTOR_PWM, 0); pwm_set_enabled(left_pwm_slice_num, true); @@ -43,6 +44,7 @@ void motor_driver_setup(void) // PWM Right gpio_set_function(PIN_RIGHT_MOTOR_PWM, GPIO_FUNC_PWM); right_pwm_slice_num = pwm_gpio_to_slice_num(PIN_RIGHT_MOTOR_PWM); + pwm_set_clkdiv_int_frac(right_pwm_slice_num, 61, 0); pwm_set_wrap(right_pwm_slice_num, 128); pwm_set_gpio_level(PIN_RIGHT_MOTOR_PWM, 0); pwm_set_enabled(right_pwm_slice_num, true);