When you set pluto-servo.pwm.#.pwmdir TRUE, the output should be what you
call "sign-magnitude":
value after scale+offset PWM Dir
0.0 0% FALSE
0.5 50% FALSE
1.0 100%* FALSE
-0.5 50% TRUE
-1.0 100%* TRUE
* may be reduced by max-dc paramter
In emc2 versions 2.2.0 through 2.2.3 there was a bug in the pluto
drover's pwmdir mode that rendered it completely broken. It should be
fixed in 2.2.4 and newer.
When in the default mode (pwmdir FALSE), the output is:
value after scale+offset Up Down
0.0 0% 0%
0.5 50% 0%
1.0 100%* 0%
-0.5 0% 50%
-1.0 0% 100%*
* may be reduced by max-dc paramter
There is no way to modify the PWM frequency of the pluto without
recompiling the firmware.
Using pdm mode (with or without pwmdir) is probably not appropriate
because then the on- and off- times for pwm/up/down are very small, I
think about 400ns.
I intend to bring a pluto board along to fest, so if nothing else maybe
I can try to toast one of Jon's amplifiers with it in an effort to sort
this problem out :-P
Jeff
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