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pwm

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This commit is contained in:
Alex B.
2025-08-06 09:09:51 -04:00
parent c60ab64e54
commit 2ad30be3a3
5 changed files with 16 additions and 15 deletions
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0
ESP-IDF_Robot/build/.ninja_lock Normal file
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2
ESP-IDF_Robot/build/CMakeFiles/git-data/HEAD
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@@ -1 +1 @@
ref: refs/heads/main
4c2820d377d1375e787bcef612f0c32c1427d183

2
ESP-IDF_Robot/build/CMakeFiles/git-data/grabRef.cmake
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@@ -18,7 +18,7 @@ set(HEAD_HASH)
file(READ "/home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/CMakeFiles/git-data/HEAD" HEAD_CONTENTS LIMIT 1024)
string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
set(GIT_DIR "/home/alex/github/ESP-Nodes/.git")
set(GIT_DIR "/home/alex/esp/v5.4.1/esp-idf/.git")
# handle git-worktree
if(EXISTS "${GIT_DIR}/commondir")
file(READ "${GIT_DIR}/commondir" GIT_DIR_NEW LIMIT 1024)

2
ESP-IDF_Robot/build/CMakeFiles/git-data/head-ref
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@@ -1 +1 @@
c678bd753406bcff764c3d71ada9fb5318244f4f
4c2820d377d1375e787bcef612f0c32c1427d183

25
ESP-IDF_Robot/main/rc.h
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@@ -104,18 +104,19 @@ static void update_pwm (int rc_x, int rc_y) {
m.motor4_rpm_pcm = 0;
}
// Forward & Turn Left
if (x >= 1500 && y >= -8190 && y < 500) {
m.motor1_rpm_pcm = x;
m.motor2_rpm_pcm = 8190;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
// Forward & Turn Right
if (y >= 1500 && x >= 1000 && x < 8190) {
m.motor1_rpm_pcm = 8190;
m.motor2_rpm_pcm = x;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
else if (x >= 1500 && y >= -8190 && y < 500) {
if (y >= -8190 && y < 500) {
m.motor1_rpm_pcm = x;
m.motor2_rpm_pcm = 8190;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
else if (y >= 1500) {
m.motor1_rpm_pcm = 8190;
m.motor2_rpm_pcm = x;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
}
else {
m.motor1_rpm_pcm = 0;