diff options
Diffstat (limited to 'source/Concept/Framework/robot.cpp')
| -rw-r--r-- | source/Concept/Framework/robot.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/source/Concept/Framework/robot.cpp b/source/Concept/Framework/robot.cpp index f14f2f7..a051dd4 100644 --- a/source/Concept/Framework/robot.cpp +++ b/source/Concept/Framework/robot.cpp @@ -18,7 +18,7 @@ Robot::Robot() PORTC = 0;
//All output except PD0+1(I2C) + 2+3(RS232)
- DDRD = (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
+ DDRD = (1 << 3) | (1 << 4) | (1 << 5) | (1 << 6) | (1 << 7);
PORTD = (1 << 0) | (1 << 1);//Activate pullup at PD0+1
//PE5 for input
@@ -34,12 +34,12 @@ Robot::Robot() PORTG = (1 << 0) | (1 << 1);
// activate channel A+B on PWM1 at 8Bit
- TCCR1A = (1 << COM1A1) | (1 << COM1B1) | (1 << WGM10);
- TCCR1B = (1 <<ICNC1) | (1 <<CS12) | (1 <<CS10); // set clock/prescaler 1/1024 -> enable counter
+ TCCR1A = (1<< COM1A1) | (1<< COM1B1) | (1<< WGM10);
+ TCCR1B = (1<<ICNC1) | (1<<CS11); // set clock/prescaler 1/8 -> enable counter
// activate Kanal A+B on PWM3 at 8Bit
- TCCR3A = (1 << COM3A1) | (1 << COM3B1) | (1 << WGM10);
- TCCR3B = (1 <<ICNC3) | (1 <<CS32) | (1 <<CS30); // set clock/prescaler 1/1024 -> enable counter
+ TCCR3A = (1<< COM3A1) | (1<< COM3B1) | (1<< WGM10);
+ TCCR3B = (1<<ICNC3) | (1<<CS31); // set clock/prescaler 1/8 -> enable counter
//Activate interrupt
sei();
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