summaryrefslogtreecommitdiff
path: root/n/asserv/src/timer.c
diff options
context:
space:
mode:
authorschodet2005-05-01 15:36:43 +0000
committerschodet2005-05-01 15:36:43 +0000
commit714e86c96ff93fb78d4340cb607c12927091417b (patch)
treef28de78f252dc450550151c6324f1e44b4633473 /n/asserv/src/timer.c
parent7bed3836db97e3c626a604cbe8b10c49236bb724 (diff)
Ajout de e_sat.
Ajout de moyenage de d. Ajout d'un print des paramètres. Mesures des robot. Période d'asservissement 1.1 ms. PWM à 14KHz.
Diffstat (limited to 'n/asserv/src/timer.c')
-rw-r--r--n/asserv/src/timer.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/n/asserv/src/timer.c b/n/asserv/src/timer.c
index 42b9a68..b6ee1f1 100644
--- a/n/asserv/src/timer.c
+++ b/n/asserv/src/timer.c
@@ -43,12 +43,12 @@ timer_read (void);
static inline void
timer_init (void)
{
- /* 256 prescaler. */
+ /* 64 prescaler. */
TCCR0 = regv (FOC0, WGM00, COM01, COM0, WGM01, CS02, CS01, CS00,
- 0, 0, 0, 0, 0, 1, 1, 0);
+ 0, 0, 0, 0, 0, 1, 0, 0);
/* Fov = F_io / (prescaler * (TOP + 1))
* TOP = 0xff
- * Tov = 1 / Fov = 4.44 ms */
+ * Tov = 1 / Fov = 1.111 ms */
}
/** Test if a overflow occured and reset the flag. */