From f6601c1f928cc28a88bcb8921ca927453d53a1f2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 22 May 2011 17:26:31 +0200 Subject: digital/mimot: add offset to compensate H-bridge dead zone --- digital/mimot/src/dirty/pwm_ocr.avr.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'digital/mimot/src/dirty/pwm_ocr.avr.c') diff --git a/digital/mimot/src/dirty/pwm_ocr.avr.c b/digital/mimot/src/dirty/pwm_ocr.avr.c index c4cd5279..a1d98c25 100644 --- a/digital/mimot/src/dirty/pwm_ocr.avr.c +++ b/digital/mimot/src/dirty/pwm_ocr.avr.c @@ -94,12 +94,12 @@ pwm_ocr_update (void) IO_SET (PWM1_BRK_IO); if (PWM_VALUE (PWM1) < 0) { - pwm1 = -PWM_VALUE (PWM1); + pwm1 = -PWM_VALUE (PWM1) + PWM_OFFSET; } else { dir_d |= _BV (PWM1_DIR); - pwm1 = PWM_VALUE (PWM1); + pwm1 = PWM_VALUE (PWM1) + PWM_OFFSET; } } # endif /* PWM1 */ @@ -115,12 +115,12 @@ pwm_ocr_update (void) IO_SET (PWM2_BRK_IO); if (PWM_VALUE (PWM2) < 0) { - pwm2 = -PWM_VALUE (PWM2); + pwm2 = -PWM_VALUE (PWM2) + PWM_OFFSET; } else { dir_d |= _BV (PWM2_DIR); - pwm2 = PWM_VALUE (PWM2); + pwm2 = PWM_VALUE (PWM2) + PWM_OFFSET; } } # endif /* PWM2 */ -- cgit v1.2.3