BAL CD Update Log V1.1.0
From Terasic Wiki
Date : 2020/11/28 For CD version V1.1.0
Since the new motors that supplier provides are not unstable for using the old motor control code.
Terasic provides a new version of motor control code to increase system stability.
The main modification is the PWM clock frequency provided to motor by the C++ file "motor.cpp".
The new version of the control code modified the parameters of "CYCLE_WIDTH". Modified from 7000 to 2500.
The PWM frequency provided to the motor will be changed from 14.28KHz (100Mhz/7000) to 40KHz (100Mhz/2500).
中文
由於供應商提供新的motor用於舊的demo code會出現一些運作不穩定的狀況. Terasic提供了新版本的motor control code來增加系統穩定. 主要修改的部分為 motor.c內 提供給 motor 的 PWM clock frequency. 新版的code修改了 CYCLE_WIDTH的參數. 從7000 修改為 2500. 如此提供給motor 的 PWM頻率會由 14.28KHz (100Mhz/7000 ) 改為 40KHz (100Mhz/2500)
