caperren/osurc_mars_rover_2017_2018
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Minor changes to rdf and a low res mode for video.

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This commit is contained in:
Corwin Perren
2018-08-10 13:03:08 -07:00
parent c3a98cc0a7
commit 12ed32ef54
9 changed files with 276 additions and 27 deletions
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9
software/firmware/mining/mining.ino
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@@ -22,6 +22,9 @@ enum HARDWARE {
MOTOR_TILT_EN = 33,
MOTOR_TILT_FB = A11,
CAMERA_CONTROL = 0,
CAMERA_VIDEO_EN = 1,
LED_13 = 13,
LED_RED = 20,
@@ -119,6 +122,10 @@ void setup_hardware() {
pinMode(HARDWARE::MOTOR_TILT_CS, INPUT);
pinMode(HARDWARE::MOTOR_TILT_FB, INPUT);
pinMode(HARDWARE::CAMERA_CONTROL, OUTPUT);
pinMode(HARDWARE::CAMERA_VIDEO_EN, OUTPUT);
pinMode(HARDWARE::LED_13, OUTPUT);
pinMode(HARDWARE::LED_RED, OUTPUT);
pinMode(HARDWARE::LED_BLUE, OUTPUT);
@@ -132,6 +139,8 @@ void setup_hardware() {
digitalWrite(HARDWARE::MOTOR_LIFT_EN, HIGH);
digitalWrite(HARDWARE::MOTOR_TILT_EN, HIGH);
digitalWrite(HARDWARE::CAMERA_VIDEO_EN, HIGH);
// Change motor PWM frequency so it's not in the audible range
analogWriteFrequency(HARDWARE::MOTOR_LIFT_PWM, 25000);
analogWriteFrequency(HARDWARE::MOTOR_TILT_PWM, 25000);