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-rw-r--r--digital/asserv/src/asserv/counter_ext.avr.c2
-rw-r--r--digital/asserv/src/asserv/main.c2
-rw-r--r--digital/asserv/src/asserv/pwm.h2
3 files changed, 3 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/counter_ext.avr.c b/digital/asserv/src/asserv/counter_ext.avr.c
index 43bf91fc..61ee6911 100644
--- a/digital/asserv/src/asserv/counter_ext.avr.c
+++ b/digital/asserv/src/asserv/counter_ext.avr.c
@@ -53,7 +53,7 @@
/** Define to 1 to reverse the first auxiliary counter. */
#define COUNTER_AUX0_REVERSE 1
/** Define to 1 to reverse the second auxiliary counter. */
-#define COUNTER_AUX1_REVERSE 1
+#define COUNTER_AUX1_REVERSE 0
/** Define to 1 to use the AVR External Memory system, or 0 to use hand made
* signals. */
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index f0b7e5b3..b34ed364 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -661,7 +661,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
break;
case c ('w', 2):
/* Set PWM direction.
- * - b: bits: 000[aux1][aux0][right][left]. */
+ * - b: bits: 0000[aux1][aux0][right][left]. */
pwm_set_reverse (args[1]);
break;
case c ('E', 2):
diff --git a/digital/asserv/src/asserv/pwm.h b/digital/asserv/src/asserv/pwm.h
index 4e3f9134..a94c4ff4 100644
--- a/digital/asserv/src/asserv/pwm.h
+++ b/digital/asserv/src/asserv/pwm.h
@@ -58,7 +58,7 @@ extern uint8_t pwm_reverse;
#define PWM_MAX_FOR_(x) PWM_MAX_FOR_ ## x
#define PWM_MAX_FOR_pwm_left PWM_MAX
#define PWM_MAX_FOR_pwm_right PWM_MAX
-#define PWM_MAX_FOR_pwm_aux0 (PWM_MAX / 2)
+#define PWM_MAX_FOR_pwm_aux0 (PWM_MAX / 4)
#define PWM_MAX_FOR_pwm_aux1 (PWM_MAX / 2)
/** Define minimum PWM value for each output, if the value is less than the