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authorschodet2005-04-27 18:37:57 +0000
committerschodet2005-04-27 18:37:57 +0000
commitf0ccf37dce1373d0e3ca70a68772de98ed67d995 (patch)
tree5a15b67f1486043eb57bc06511596f2d70c95a41 /n/asserv/src/pwm.c
parent62c6ae5cd97f7fa85709eba90a01a7cddd6685a5 (diff)
Modif des compteurs.
Modif de Taz.
Diffstat (limited to 'n/asserv/src/pwm.c')
-rw-r--r--n/asserv/src/pwm.c18
1 files changed, 0 insertions, 18 deletions
diff --git a/n/asserv/src/pwm.c b/n/asserv/src/pwm.c
index 093e064..4ab8722 100644
--- a/n/asserv/src/pwm.c
+++ b/n/asserv/src/pwm.c
@@ -73,36 +73,18 @@ pwm_init (void)
static inline uint8_t
pwm_preproc (uint16_t v)
{
- // This is a try to correct the optocoupler problem...
- //v += 0x10;
if (v > 255)
return 255;
else
return v;
}
-extern int8_t speed_left, speed_right;
-
-/** Filter PWM values. */
-static inline void
-pwm_filter (void)
-{
- /* This is a try to correct vibration problem. */
- if ((speed_left > 0 && pwm_left < 0)
- || (speed_left < 0 && pwm_left > 0))
- pwm_left = 0;
- if ((speed_right > 0 && pwm_right < 0)
- || (speed_right < 0 && pwm_right > 0))
- pwm_right = 0;
-}
-
/** Update the hardware PWM values. */
static inline void
pwm_update (void)
{
uint16_t left, right;
uint8_t dir;
- pwm_filter ();
dir = PORTB & ~(_BV (PWM_LEFT_DIR) | _BV (PWM_RIGHT_DIR));
/* Set left PWM. */
if (pwm_left == 0)