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Changing some const variables

This commit is contained in:
Ulysse Cura 2025-05-08 20:50:24 +02:00
parent 590ced4bd5
commit b2995b9894
1 changed files with 7 additions and 7 deletions
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14
motion controller code/src/motors.c
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@ -25,11 +25,11 @@ void init_motors(void)
const motor_def_t *motor_def = &MOTORS_DEFS[actual_motor]; const motor_def_t *motor_def = &MOTORS_DEFS[actual_motor];
// Init PWM // Init PWM
uint slice_num = pwm_gpio_to_slice_num(motor_def->pwm_pin); const uint SLICE_NUM = pwm_gpio_to_slice_num(motor_def->pwm_pin);
gpio_set_function(motor_def->pwm_pin, GPIO_FUNC_PWM); gpio_set_function(motor_def->pwm_pin, GPIO_FUNC_PWM);
pwm_set_wrap(slice_num, 128); pwm_set_wrap(SLICE_NUM, 128);
pwm_set_enabled(slice_num, true); pwm_set_enabled(SLICE_NUM, true);
// Init dir pins // Init dir pins
gpio_init(motor_def->dir1_pin); gpio_init(motor_def->dir1_pin);
@ -50,12 +50,12 @@ void init_servo_motors(void)
const servo_motor_def_t *servo_motor_def = &SERVO_MOTORS_DEFS[actual_servo_motor]; const servo_motor_def_t *servo_motor_def = &SERVO_MOTORS_DEFS[actual_servo_motor];
// Init PWM // // Init PWM //
uint slice_num = pwm_gpio_to_slice_num(servo_motor_def->pwm_pin); const uint SLICE_NUM = pwm_gpio_to_slice_num(servo_motor_def->pwm_pin);
gpio_set_function(servo_motor_def->pwm_pin, GPIO_FUNC_PWM); gpio_set_function(servo_motor_def->pwm_pin, GPIO_FUNC_PWM);
pwm_set_wrap(slice_num, 25000); pwm_set_wrap(SLICE_NUM, 25000);
pwm_set_clkdiv(slice_num, 100); pwm_set_clkdiv(SLICE_NUM, 100);
pwm_set_enabled(slice_num, true); pwm_set_enabled(SLICE_NUM, true);
servo_motor_zero(actual_servo_motor); servo_motor_zero(actual_servo_motor);
} }