void print_Duty() {
dbprintf("Left Motor Duty: %d\nRight Motor Duty: %d\n\n",
PWM_GetDutyCycle(LEFT_MOTOR_ENABLE) / 10,
PWM_GetDutyCycle(RIGHT_MOTOR_ENABLE) / 10);
}
static int writePWMChannels(SampleRecord *sampleRecord, size_t currentTicks, LoggerConfig *loggerConfig){
int rate = SAMPLE_DISABLED;
for (int i = 0; i < CONFIG_PWM_CHANNELS; i++){
PWMConfig *c = &(loggerConfig->PWMConfigs[i]);
size_t sr = c->cfg.sampleRate;
if (sr != SAMPLE_DISABLED){
if ((currentTicks % sr) == 0){
rate = HIGHER_SAMPLE_RATE(sr, rate);
float value = 0;
switch (c->loggingMode){
case MODE_LOGGING_PWM_PERIOD:
value = PWM_GetPeriod(i);
break;
case MODE_LOGGING_PWM_DUTY:
value = PWM_GetDutyCycle(i);
break;
case MODE_LOGGING_PWM_VOLTS:
value = PWM_GetDutyCycle(i) * c->voltageScaling;
break;
default:
break;
}
if (c->loggingPrecision == 0){
sampleRecord->PWMSamples[i].intValue = value;
}
else{
sampleRecord->PWMSamples[i].floatValue = value;
}
}
}
}
return rate;
}
void __ISR(_TIMER_3_VECTOR, ipl3) Timer3Handler(void) {
mT3ClearIntFlag();
printf("timeout\n");
//printf("mspeed %d\n",motor_command(500));
//waitabit(1000);
//printf("angle %f\n",get_AHRS_angle());
//waitabit(1000);
// printf("speed %f\n", get_AHRS_rate());
//waitabit(500000); //works with 1000000 and 500000
//printf("mspeed %d\n\n", motor_command(500));
printf("duty cycle %d\n", PWM_GetDutyCycle(PWM_PORTY04));
motor_command(300);
//MDBSS ^= 1;
}
