[chbot] Motor controller

[Robin Gilks]

> Sounds like you are making progress.
>
> What is the frequency of the PWM timebase, maybe a multiple of 2MHz ?
>

So much progress that I have installed the gasket on the box and am about
to seal in all the cables :)

The PWM is driven from a x8 prescaler from the main 16MHz clock, hence 1
clock = 0.5uS. The PWM period is therefore 16000000 / 8 / 1024 which means
the motors whine very nicely!! (the bridges can handle up to 25KHz so I
may try changing the prescale register values.)



-- 
Robin Gilks
Internet: robin at gilks.org    http://www.gilks.org
Tel:      (+64) (3) 347 4370