/* * Calculate PLL output frequency */ static uint32_t calc_pll(uint32_t pllreg, uint32_t base_freq) { int32_t mfn = MFN(pllreg); /* Numerator */ uint32_t mfi = MFI(pllreg); /* Integer part */ uint32_t mfd = 1 + MFD(pllreg); /* Denominator */ uint32_t pd = 1 + PD(pllreg); /* Pre-divider */ if (mfi < 5) { mfi = 5; } /* mfn is 10-bit signed twos-complement */ mfn <<= 32 - 10; mfn >>= 32 - 10; return ((2 * (base_freq >> 10) * (mfi * mfd + mfn)) / (mfd * pd)) << 10; }
task main() { initializeRobot(); waitForStart(); // Wait for the beginning of autonomous phase. servo[scoopL] = 255; servo[scoopR] = 0; MFD(64, 100, 1000000000); /////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////// //// //// //// Add your robot specific autonomous code here. //// //// //// /////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////// while (true) {} }