manual

ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt

@@ -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

ESP-IDF_Robot/tutorial/docs/build/html/overview.html

@@ -52,16 +52,31 @@ Consequently, only four PWM channels are sufficient for controlling the directio
 Based on this constraint, the RC car can only move front, back, and turn/rotate left and right. Any other movements are not possible (i.e. diagonal or sideways).</p>
 <div class="admonition-what-is-pwm admonition">
 <p class="admonition-title">What is PWM?</p>
-<p><strong>PWM</strong> (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.</p>
+<p><strong>PWM</strong> 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.</p>
 <p>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.</p>
 </div>
-<p>A pair of PWM channels are required for defining rotation speed and direction of the DC motors on each side.
+<p>A pair of PWM channels are used per DC motor for defining their rotation speed and direction on each side.
 In particular, <strong>GPIO6</strong> and <strong>GPIO5</strong> provide PWM to the left- and right- side DC motors to rotate in a <strong>clockwise</strong> direction.
 Similarly, <strong>GPIO4</strong> and <strong>GPIO7</strong> provide PWM to the left- and right- side DC motors to rotate in a <strong>counter-clockwise</strong> direction.
 Changing PWM on each channel determines the speed and direction of the RC car.</p>
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>GPIO Num.</p></th>
+<th class="head"><p>State</p></th>
+<th class="head"><p>Function</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p>GPIO6
+GPIO4</p></td>
+<td><p>PWM</p></td>
+<td><p>Forward</p></td>
+</tr>
+</tbody>
+</table>
 <p>The following images illustrate various PWM duty cycles registered by oscilloscope (duty cycles 0%, 48% and 91%, resp.).</p>
 <figure class="align-default" id="id1">
 <img alt="_images/ESP-IDF_Robot_PWM_Duty-0.bmp" src="_images/ESP-IDF_Robot_PWM_Duty-0.bmp" />