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I already got the encoder counts per revolution: 360 x 4 = 1440 counts / rev if velocity is 170 rpmit results then a 170 rev/min x 1 / 60 min/s x 1440 counts / rev = 4,079.5 counts /s (so, frequency of 4.08 KHz )
The thing is that, looking at the datasheet of the microcontroller, the PWM frequency that I can generate is 60 Hz (the formula is f pwm = fclock / 2*N*TOP where fclock = 8 MHz, TOP = 65535 and N = 1 ) I think there is something wrong with this, makes any senses to use 60 Hz frequency???
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