Diff: Motor/Motor.cpp

Revision:

1:5b0303768126

Parent:

0:db8d4af513c0

Child:

2:32d2cd7d744b

diff -r db8d4af513c0 -r 5b0303768126 Motor/Motor.cpp
--- a/Motor/Motor.cpp	Mon Jan 20 08:46:24 2020 +0000
+++ b/Motor/Motor.cpp	Tue Jan 21 11:10:33 2020 +0000
@@ -7,23 +7,24 @@
 {
     D1_.write(0);
     D2_.write(0);
+    pwm_.period_us(50);  // 20kHz
     pwm_.write(0);
 }
 
 void MOTOR::Dir(dire mode, uint8_t pwm)
 {
     D1_.write((char)mode & 0x01);
-    D1_.write((char)mode & 0x02);
-    pwm_.write((float)(pwm / 100.0));
+    D2_.write((char)mode & 0x02);
+    pwm_.write((float)(pwm / 255.0));
 }
 
 void MOTOR::Dir(dire mode)
 {
     D1_.write((char)mode & 0x01);
-    D1_.write((char)mode & 0x02);
+    D2_.write((char)mode & 0x02);
 }
 
 void MOTOR::PWM(uint8_t pwm)
 {
-    pwm_.write((float)(pwm / 100.0));
+    pwm_.write((float)(pwm / 255.0));
 }
\ No newline at end of file