Even though the comment says that it is a 26.2ms Loop area (I think it was 26.2?) it is in fact 40ms. The autonomous loop runs in 26.2ms space, but your code actually runs in 40ms space.
What I do to keep from getting confused is this:
Quote:
#define second 40
#define tenth_second 4
//IFI code goes here
unsigned int autonomous_clock;
if (autonomous_clock < ((2*second) + (4*tenth_second))
{
pwm01 = 254;
pwm02 = 254;
}
else
{
pwm01 = 127;
pwm02 = 127;
}
++autonomous_clock; //adds 1 to the autonomous_clock count
|
I forget if the default code uses pwm_max, pwm_min, or pwm_neutral, but my code did. I merely use pwm_max as 254, pwm_neutral as 127, and pwm_min as 0
Hope this helps.