welterde/shittyrobot
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Disable deadtime

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This commit is contained in:
Tassilo Schweyer 2025-12-29 01:31:57 +01:00
parent a7c3d5f84d
commit dd8a95b9fc
1 changed files with 6 additions and 6 deletions
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12
shittyrobot.py
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@ -52,8 +52,8 @@ MOTOR_A0 = Pin(0, Pin.OUT, drive=Pin.DRIVE_0)
MOTOR_A1 = Pin(1, Pin.OUT, drive=Pin.DRIVE_0) MOTOR_A1 = Pin(1, Pin.OUT, drive=Pin.DRIVE_0)
MOTOR_B0 = Pin(2, Pin.OUT, drive=Pin.DRIVE_0) MOTOR_B0 = Pin(2, Pin.OUT, drive=Pin.DRIVE_0)
MOTOR_B1 = Pin(3, Pin.OUT, drive=Pin.DRIVE_0) MOTOR_B1 = Pin(3, Pin.OUT, drive=Pin.DRIVE_0)
LED_DAT = Pin(6, Pin.OUT, drive=Pin.DRIVE_3) #LED_DAT = Pin(6, Pin.OUT, drive=Pin.DRIVE_3)
LED_NP = neopixel.NeoPixel(LED_DAT, 6, timing=1, bpp=4) #LED_NP = neopixel.NeoPixel(LED_DAT, 6, timing=1, bpp=4)
#do_connect() #do_connect()
@ -69,10 +69,10 @@ def controlloop(last_start, next_action):
if debug: if debug:
print('CTRL: ', last_start, next_action) print('CTRL: ', last_start, next_action)
if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0: #if time.ticks_diff(now, time.ticks_add(last_start, 100000)) < 0:
if debug: # if debug:
print(' DEADTIME -> ignore') # print(' DEADTIME -> ignore')
return last_start # return last_start
if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0: if next_action is None and time.ticks_diff(time.ticks_add(last_start, 601000), now) > 0:
if debug: if debug: