luisllamasbinaburo / arduino-bts7960 Goto Github PK

The PWM is too low causing noise and excessive heating .If you can add a PWM regulation or just put it straight to 20KHz

The default Arduino PWM frequency is quite low, causing motor whine in DC motors at lower duty cycles. This can be avoided if the PWM frequency is increased (to e.g. around 20kHz), and can be done on some Arduino boards by changing the related timer frequency of the used PWM pins.
There are already existing libraries (e.g. https://github.com/terryjmyers/PWM) that can do this, but it seems fit that this library can set the frequency as well.

How can I use current alarm and can u provide example code for "(is) KEYWORD2" please.

At least on Arduino DUE I've tried, loading the library and creating the motor object, creates a continuos 1KHz (standard pwm freq. on DUE) spike in idle on the right pwm channel. When the motor has to be driven it behave correctly.

I've found this part of the library causing what I guess is a problem:
void BTS7960::Stop(){
analogWrite(_L_PWM, LOW);
analogWrite(_R_PWM, HIGH);
}

Modifying to:
void BTS7960::Stop(){
analogWrite(_L_PWM, 0);
analogWrite(_R_PWM, 0);
}
solves the problem.

Is this intentional or it's a real issue? If it's intentional what is the pourpose?

           Thanks, Mauro

Not an issue. Why does the TurnRight and TurnLeft methods include a line that writes 0 to the output, and the microsecond delay? Won't that slow the motor down on repeated calls to change the speed?