Merge pull request #5 from jordojordo/motor-esc

Adjust timer freq for mower motor
jordojordo · Feb 18, 2024 · ea0d4a6 · ea0d4a6
2 parents 5fc66e6 + fe2ba40
commit ea0d4a6
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Showing 3 changed files with 11 additions and 2 deletions.
diff --git a/lawndon/drive.h b/lawndon/drive.h
@@ -10,11 +10,11 @@ extern Servo leftEsc;
 extern Servo rightEsc;
 
 // pin defs
-#define ESC_LEFT_PWM            4
 #define ESC_LEFT_POWER          3
+#define ESC_LEFT_PWM            4
 
-#define ESC_RIGHT_PWM           11
 #define ESC_RIGHT_POWER         10
+#define ESC_RIGHT_PWM           11
 
 // Throttle positions
 #define ESC_MIN_THROTTLE        1000

diff --git a/lawndon/motor.cpp b/lawndon/motor.cpp
@@ -12,6 +12,9 @@ Motor::Motor() {}
 void Motor::setup() {
   Console.println(F("Initializing motor config"));
 
+  // Setup for changing the PWM frequency of pin 7
+  setupTimer4();
+
   // Attach Mower ESC
   Console.println(F("Attaching mower ESC"));
   mowerEsc.attach(ESC_MOWER_PWM, 1000, 2000);
@@ -35,3 +38,7 @@ void Motor::loop() {
     mowerEsc.writeMicroseconds(1000);
   }
 }
+
+void Motor::setupTimer4() {
+    TCCR4B = TCCR4B & 0b11111000 | 0x04; // Set prescaler to 256 for Timer 4
+}
diff --git a/lawndon/motor.h b/lawndon/motor.h
@@ -14,6 +14,8 @@ class Motor {
 
   virtual void setup();
   virtual void loop();
+
+  virtual void setupTimer4();
 };
 
 extern Motor motor;