Debug write motor value from CAN

ARIG-Robotique · Apr 18, 2024 · 0ba4a63 · 0ba4a63
1 parent 29fd8c7
commit 0ba4a63
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/Core/Src/app_freertos.c b/Core/Src/app_freertos.c
@@ -48,6 +48,7 @@
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
 bool encoderAlternateRead = false;
+bool motorAlternateWrite = false;
 /* USER CODE END Variables */
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;
@@ -333,7 +334,14 @@ void setMotorSpeed(uint16_t pwmMotor1, bool dirMotor1, uint16_t pwmMotor2, bool
   htim1.Instance->CCR2 = pwmMotor2;
 
   // Refresh PWMs
-  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1 | TIM_CHANNEL_2);
+  if (motorAlternateWrite) {
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+  } else {
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+  }
+  motorAlternateWrite = !motorAlternateWrite;
 }
 
 /* USER CODE END Application */