From 714e86c96ff93fb78d4340cb607c12927091417b Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 1 May 2005 15:36:43 +0000 Subject: 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. --- n/asserv/src/timer.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'n/asserv/src/timer.c') 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. */ -- cgit v1.2.3