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Alex B.
2025-06-25 03:14:55 -04:00
parent 520b3546e2
commit 33c4de2b61
1 changed files with 6 additions and 6 deletions
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12
ESP-IDF_Robot/main/rc.h
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@@ -167,17 +167,17 @@ static void update_pwm (int rc_x, int rc_y) {
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = y;
}
// DIAGONALLY FORWARD AND REVERSE
if ((x > 0) && (y > 0 && y < 500)) {
// DIAGONALLY FORWARD
if ((x > 7400) && (y > 7440)) {
m.motor1_rpm_pcm = x; // left, forward
m.motor2_rpm_pcm = x; // right, forward
m.motor3_rpm_pcm = 0;
m.motor2_rpm_pcm = 0; // right, forward
m.motor3_rpm_pcm = x;
m.motor4_rpm_pcm = 0;
}
else if ((x < 0) && (y > 0 && y < 500)) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -x;
m.motor2_rpm_pcm = -x;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = -x;
}
else {