From 548f11d5aef37d5ab1edac6970ceb7bee4300f4f Mon Sep 17 00:00:00 2001 From: rafael Date: Mon, 21 Oct 2024 23:19:45 +0200 Subject: [PATCH] cheaper motors need lower pwm frequency --- examples/rp23/src/bin/pwm_tb6612fng_motor_driver.rs | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/rp23/src/bin/pwm_tb6612fng_motor_driver.rs b/examples/rp23/src/bin/pwm_tb6612fng_motor_driver.rs index 263b551de..3fad2928c 100644 --- a/examples/rp23/src/bin/pwm_tb6612fng_motor_driver.rs +++ b/examples/rp23/src/bin/pwm_tb6612fng_motor_driver.rs @@ -40,8 +40,8 @@ async fn main(_spawner: Spawner) { let s = split_resources!(p); let r = s.motor; - // we want a PWM frequency of 25KHz - let pwm_freq = 25_000; // Hz, our desired frequency + // we want a PWM frequency of 1KHz, especially cheaper motors do not respond well to higher frequencies + let pwm_freq = 1_000; // Hz, our desired frequency let clock_freq = embassy_rp::clocks::clk_sys_freq(); let period = (clock_freq / pwm_freq) as u16 - 1; @@ -77,8 +77,8 @@ async fn main(_spawner: Spawner) { // drive a straight line forward at 20% speed for 5s info!("drive straight"); - control.motor_a.drive(DriveCommand::Forward(20)).unwrap(); - control.motor_b.drive(DriveCommand::Forward(20)).unwrap(); + control.motor_a.drive(DriveCommand::Forward(80)).unwrap(); + control.motor_b.drive(DriveCommand::Forward(80)).unwrap(); Timer::after(Duration::from_secs(5)).await; // coast for 2s @@ -95,8 +95,8 @@ async fn main(_spawner: Spawner) { // slowly turn for 3s info!("turn"); - control.motor_a.drive(DriveCommand::Backward(10)).unwrap(); - control.motor_b.drive(DriveCommand::Forward(10)).unwrap(); + control.motor_a.drive(DriveCommand::Backward(50)).unwrap(); + control.motor_b.drive(DriveCommand::Forward(50)).unwrap(); Timer::after(Duration::from_secs(3)).await; // and put the driver in standby mode and wait for 5s