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Test case for HardwareTime frequency discrepancy + doc

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This commit is contained in:
Hakan Bastedt
2024-03-27 22:03:10 +01:00
parent ea5a39d300
commit e6ae2ad3c7
3 changed files with 29 additions and 16 deletions
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Firmware/include/StepGen3.h
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@@ -144,7 +144,7 @@ private:
};
// For the example
#define BASE_PERIOD 20000 // 12 is max
#define BASE_PERIOD 12000 // 12 is max
#define SERVO_PERIOD 1000000
#define JOINT_X_STEPGEN_MAXACCEL (1.2 * 520.0)
#define JOINT_X_SCALE -200