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Alex B.
2025-07-05 23:34:06 -04:00
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ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt vendored
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@@ -27,18 +27,25 @@ Based on this constraint, the RC car can only move front, back, and turn/rotate
.. admonition:: What is PWM?
**PWM** (Pulse Width Modulation) is a technique used to simulate analog voltage levels using ddiscrete igital signals. It works by rapidly switching a
digital pin between HIGH (on) and LOW (off) states at a fixed frequency (often, at base frequency of 5 kHz). The duty cycle—the percentage of time the signal is HIGH in one
cycle determines the effective voltage delivered to a device.
**PWM** stands for Pulse Width Modulation. It is a technique used to simulate analog voltage levels using discrete digital signals. It works by
rapidly switching a digital GPIO pin between HIGH (on) and LOW (off) states at a fixed frequency (often, at base frequency of 5 kHz).
The duty cycle—the percentage of time the signal is HIGH in one cycle determines the effective voltage delivered to a device.
A higher duty cycle increases the motor speed, and a lower duty cycle decreases the motor speed. This allows for fine-grained speed control
without needing analog voltage regulators.
A pair of PWM channels are required for defining rotation speed and direction of the DC motors on each side.
A pair of PWM channels are used per DC motor for defining their rotation speed and direction on each side.
In particular, **GPIO6** and **GPIO5** provide PWM to the left- and right- side DC motors to rotate in a **clockwise** direction.
Similarly, **GPIO4** and **GPIO7** provide PWM to the left- and right- side DC motors to rotate in a **counter-clockwise** direction.
Changing PWM on each channel determines the speed and direction of the RC car.
+-----------+-------+----------+
| GPIO Num. | State | Function |
+===========+=======+==========+
| GPIO6 | PWM | Forward |
| GPIO4 | | |
+-----------+-------+----------+
The following images illustrate various PWM duty cycles registered by oscilloscope (duty cycles 0%, 48% and 91%, resp.).
.. figure:: _static/ESP-IDF_Robot_PWM_Duty-0.bmp