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pwm

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Alex B.
2025-08-06 04:12:14 -04:00
parent 07dee7bca4
commit 095e34ce77
1 changed files with 7 additions and 3 deletions
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10
ESP-IDF_Robot/main/rc.h
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@@ -113,9 +113,13 @@ static void update_pwm (int rc_x, int rc_y) {
m.motor3_rpm_pcm = -(y - x); // Left side motors, reverse m.motor3_rpm_pcm = -(y - x); // Left side motors, reverse
m.motor4_rpm_pcm = -(y + x); // Right side motors, reverse m.motor4_rpm_pcm = -(y + x); // Right side motors, reverse
} }
// Rotations // ROTATIONS
if (y < 1500) && (y > 1500) { // Rotate right
if ((y < 1500) && (y > 1500)) && (x > 8000) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
} }
// ------------- // -------------