Using Kevin's PWM outputs for a quieter drive system.

[PhilBot]

Now that the crisis is over for a while, my mind wanders to paths not followed. Specifically, using Kevin's PWM 12,13,14,15 outputs.

The fact that our drive system always sounds very "cruncy" with the banebot gearboxes when moving at anything less than full speed, made me start to wonder if using the custom PWM code would help.

I'm guessing that the default 38Hz rate could be part of the problem, but unless I call the PWM() function more often than during teleop(), even the "precise" PWMs give me the same quality... right?

Please educate me somone.... is there an easy way to use PWM() faster than the default rate to give me "smoother" main wheel drive.

Also, I do have a steering motor this year, so getting better control over this motor would be helpfull. Since it's based on a pot feedback, I guess I could use the PWM() call inside the code that checks for a new A2D value....

Reasonable??

Phil.