16 lines
881 B
Plaintext
16 lines
881 B
Plaintext
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Itrip = 65kV/RILIM(kohm). If RILIM = 33 kΩ, the DRV8871-Q1 device limits motor current to 2 A no matter how much load torque is applied
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When using PWM, it typically works best to switch between driving and braking. For example, to drive a motor forward with 50% of its max RPM, IN1 = 1 and IN2 = 0 during the driving period, and IN1 = 1 and IN2 = 1 during the other period.
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PINCM Pin Mode Timer Usage
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17 PB4 Mode4 TIMA1_C0 Left Motor, IN2, PWM low for forward, GPIO high for reverse
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13 PB1 Mode4 TIMA1_C1 Left Motor, IN1, GPIO high for forward, PWM low for reverse
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25 PB8 Mode4 TIMA0_C0 Right Motor, IN2, PWM low for forward, GPIO high for reverse
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26 PB9 Mode4 TIMA0_C1 Right Motor, IN1, GPIO high for forward, PWM low for reverse
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23 PB6 Mode7 TIMG6_C0 Steering Servo PWM high 20ms period,
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