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pwm

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Alex B.
2025-08-06 04:09:27 -04:00
parent a7bdd21c34
commit 07dee7bca4
1 changed files with 16 additions and 2 deletions
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18
ESP-IDF_Robot/main/rc.h
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@@ -99,9 +99,23 @@ static void update_pwm (int rc_x, int rc_y) {
}*/ }*/
// Smooth update // Smooth update
// All forward directions
if (y >= 1500) { if (y >= 1500) {
m.motor1_rpm_pcm = y - x; m.motor1_rpm_pcm = y - x; // Left side motors, forward
m.motor2_rpm_pcm = ; m.motor2_rpm_pcm = y + x; // Right side motors, forward
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
// All reverse directions
if (y <= -1500) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -(y - x); // Left side motors, reverse
m.motor4_rpm_pcm = -(y + x); // Right side motors, reverse
}
// Rotations
if (y < 1500) && (y > 1500) {
} }
// ------------- // -------------