From 3c5696021e5086f2eeaa70a262cbd246a0586106 Mon Sep 17 00:00:00 2001 From: Joseph Coffland Date: Wed, 11 Jan 2017 16:13:52 -0800 Subject: [PATCH] Changed gain and decay settings --- src/drv8711.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drv8711.c b/src/drv8711.c index 0ed4bfa..f55d811 100644 --- a/src/drv8711.c +++ b/src/drv8711.c @@ -229,7 +229,7 @@ static void _init_spi_commands() { // Set DECAY commands[spi.ncmds++] = - DRV8711_WRITE(DRV8711_DECAY_REG, DRV8711_DECAY_DECMOD_MIXED | 6); + DRV8711_WRITE(DRV8711_DECAY_REG, DRV8711_DECAY_DECMOD_AUTO_OPT | 6); // Set STALL commands[spi.ncmds++] = @@ -250,7 +250,7 @@ static void _init_spi_commands() { // Set CTRL enable motor & set ISENSE gain commands[spi.ncmds++] = DRV8711_WRITE(DRV8711_CTRL_REG, DRV8711_CTRL_ENBL_bm | - DRV8711_CTRL_ISGAIN_5 | DRV8711_CTRL_DTIME_850); + DRV8711_CTRL_ISGAIN_10 | DRV8711_CTRL_DTIME_850); // Read STATUS commands[spi.ncmds++] = DRV8711_READ(DRV8711_STATUS_REG); -- 2.27.0