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cheaper motors need lower pwm frequency

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This commit is contained in:
rafael 2024-10-21 23:19:45 +02:00
parent 14e69309eb
commit 548f11d5ae
1 changed files with 6 additions and 6 deletions
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12
examples/rp23/src/bin/pwm_tb6612fng_motor_driver.rs
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@ -40,8 +40,8 @@ async fn main(_spawner: Spawner) {
let s = split_resources!(p); let s = split_resources!(p);
let r = s.motor; let r = s.motor;
// we want a PWM frequency of 25KHz // we want a PWM frequency of 1KHz, especially cheaper motors do not respond well to higher frequencies
let pwm_freq = 25_000; // Hz, our desired frequency let pwm_freq = 1_000; // Hz, our desired frequency
let clock_freq = embassy_rp::clocks::clk_sys_freq(); let clock_freq = embassy_rp::clocks::clk_sys_freq();
let period = (clock_freq / pwm_freq) as u16 - 1; 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 // drive a straight line forward at 20% speed for 5s
info!("drive straight"); info!("drive straight");
control.motor_a.drive(DriveCommand::Forward(20)).unwrap(); control.motor_a.drive(DriveCommand::Forward(80)).unwrap();
control.motor_b.drive(DriveCommand::Forward(20)).unwrap(); control.motor_b.drive(DriveCommand::Forward(80)).unwrap();
Timer::after(Duration::from_secs(5)).await; Timer::after(Duration::from_secs(5)).await;
// coast for 2s // coast for 2s
@ -95,8 +95,8 @@ async fn main(_spawner: Spawner) {
// slowly turn for 3s // slowly turn for 3s
info!("turn"); info!("turn");
control.motor_a.drive(DriveCommand::Backward(10)).unwrap(); control.motor_a.drive(DriveCommand::Backward(50)).unwrap();
control.motor_b.drive(DriveCommand::Forward(10)).unwrap(); control.motor_b.drive(DriveCommand::Forward(50)).unwrap();
Timer::after(Duration::from_secs(3)).await; Timer::after(Duration::from_secs(3)).await;
// and put the driver in standby mode and wait for 5s // and put the driver in standby mode and wait for 5s