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@@ -57,8 +57,6 @@ Changing PWM on each channel determines the speed and direction of the RC car.
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The table below summarizes the GPIO pins used for PWM to control the direction of the DC motors in the remote-controlled car.
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:class: break
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+-----------+-------+---------------------------------------+----------+
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| GPIOs | State | Description | Function |
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+===========+=======+=======================================+==========+
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@@ -84,11 +84,6 @@ In particular, <strong>GPIO6</strong> and <strong>GPIO5</strong> provide PWM to
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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.
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Changing PWM on each channel determines the speed and direction of the RC car.</p>
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<p>The table below summarizes the GPIO pins used for PWM to control the direction of the DC motors in the remote-controlled car.</p>
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<dl class="field-list simple">
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<dt class="field-odd">class<span class="colon">:</span></dt>
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<dd class="field-odd"><p>break</p>
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</dd>
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</dl>
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<table class="docutils align-default">
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<thead>
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<tr class="row-odd"><th class="head"><p>GPIOs</p></th>
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
\BOOKMARK [1][-]{section.6.3}{\376\377\000W\000i\000r\000i\000n\000g}{chapter.6}% 24
|
||||
\BOOKMARK [1][-]{section.6.4}{\376\377\000M\000o\000t\000o\000r\000\040\000W\000i\000r\000e\000s\000\040\000H\000a\000r\000n\000e\000s\000s}{chapter.6}% 25
|
||||
\BOOKMARK [0][-]{chapter.7}{\376\377\000R\000E\000F\000E\000R\000E\000N\000C\000E\000S}{}% 26
|
||||
\BOOKMARK [1][-]{section.7.1}{\376\377\000G\000i\000t\000H\000u\000b}{chapter.7}% 27
|
||||
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|
||||
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|
||||
|
||||
@@ -141,18 +141,66 @@ The following table summarizes GPIOs and pins reserved for operations purposes.
|
||||
The GPIO numbers correspond to those on the ESP32\sphinxhyphen{}C3 WROOM microcontroller. The Pin number corresponds to the pin on the Breadboard and Power adapter development board.
|
||||
|
||||
|
||||
\subsection{x\sphinxhyphen{} and y\sphinxhyphen{} axis}
|
||||
\label{\detokenize{overview:x-and-y-axis}}
|
||||
\subsection{Reading the Joystick x\sphinxhyphen{} and y\sphinxhyphen{} axis}
|
||||
\label{\detokenize{overview:reading-the-joystick-x-and-y-axis}}
|
||||
\sphinxAtStartPar
|
||||
The \sphinxstylestrong{GPIO0} and \sphinxstylestrong{GPIO1} assigned to measuring the voltage of x\sphinxhyphen{} and y\sphinxhyphen{} axis of the Joystick. Lastly, there is a group of GPIO pairs responsible for PWM for DC motors.
|
||||
To determine the position of the Joystick, the BitRider RC car uses ADC to measure voltage on two GPIOs connected to the joystic
|
||||
x\sphinxhyphen{} and y\sphinxhyphen{} axis potentionometers (\sphinxstylestrong{GPIO0} and \sphinxstylestrong{GPIO1}).
|
||||
|
||||
|
||||
\subsection{Direction and Speed}
|
||||
\label{\detokenize{overview:direction-and-speed}}
|
||||
\subsection{Controlling the Direction and Speed}
|
||||
\label{\detokenize{overview:controlling-the-direction-and-speed}}
|
||||
\sphinxAtStartPar
|
||||
The pairs of DC motors on the left side are wired to the dedicated PWM channels. This means that \sphinxstyleemphasis{ESP32\sphinxhyphen{}C3 Breadboard DevBoard} can control rotation speed and direction of DC motors in pairs only (i.e. left and right side).
|
||||
Consequently, only four PWM channels are sufficient for controlling the direction of the RC car.
|
||||
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).
|
||||
To set any desired speed of BiteRider RC car, the \sphinxstyleemphasis{ESP32\sphinxhyphen{}C3 Breadboard Adapter DevBoard} uses PWM to control the rotation speed
|
||||
of DR motors. Similarly, to set the direction of the RC car, the rotation speed of corresponding DC motors is changed as required.
|
||||
|
||||
\sphinxAtStartPar
|
||||
Due to the design and limited number of available GPIOs, the \sphinxstyleemphasis{ESP32\sphinxhyphen{}C3 Breadboard DevBoard} can control rotation speed and direction
|
||||
of DC motors in pairs only (i.e. left and right side). Consequently, this means that the four PWM channels used for controlling the
|
||||
direction of the RC car.
|
||||
|
||||
\sphinxAtStartPar
|
||||
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).
|
||||
|
||||
|
||||
\begin{savenotes}\sphinxattablestart
|
||||
\sphinxthistablewithglobalstyle
|
||||
\centering
|
||||
\begin{tabulary}{\linewidth}[t]{TT}
|
||||
\sphinxtoprule
|
||||
\sphinxtableatstartofbodyhook
|
||||
\sphinxAtStartPar
|
||||
PWM of DC Motors
|
||||
&
|
||||
\sphinxAtStartPar
|
||||
Direction
|
||||
\\
|
||||
\sphinxhline
|
||||
\sphinxAtStartPar
|
||||
PWM(left) = PWM(right)
|
||||
&
|
||||
\sphinxAtStartPar
|
||||
Straight
|
||||
\\
|
||||
\sphinxhline
|
||||
\sphinxAtStartPar
|
||||
PWM(left) \textgreater{} PWM(right)
|
||||
&
|
||||
\sphinxAtStartPar
|
||||
Left
|
||||
\\
|
||||
\sphinxhline
|
||||
\sphinxAtStartPar
|
||||
PWM(left) \textless{} PWM(right)
|
||||
&
|
||||
\sphinxAtStartPar
|
||||
Right
|
||||
\\
|
||||
\sphinxbottomrule
|
||||
\end{tabulary}
|
||||
\sphinxtableafterendhook\par
|
||||
\sphinxattableend\end{savenotes}
|
||||
|
||||
\begin{sphinxadmonition}{note}{What is PWM?}
|
||||
|
||||
@@ -172,6 +220,12 @@ Changing PWM on each channel determines the speed and direction of the RC car.
|
||||
|
||||
\sphinxAtStartPar
|
||||
The table below summarizes the GPIO pins used for PWM to control the direction of the DC motors in the remote\sphinxhyphen{}controlled car.
|
||||
\begin{quote}\begin{description}
|
||||
\sphinxlineitem{class}
|
||||
\sphinxAtStartPar
|
||||
break
|
||||
|
||||
\end{description}\end{quote}
|
||||
|
||||
|
||||
\begin{savenotes}\sphinxattablestart
|
||||
|
||||
@@ -1,28 +0,0 @@
|
||||
\babel@toc {english}{}\relax
|
||||
\contentsline {chapter}{\numberline {1}OVERVIEW}{3}{chapter.1}%
|
||||
\contentsline {section}{\numberline {1.1}ABSTRACT}{3}{section.1.1}%
|
||||
\contentsline {chapter}{\numberline {2}HOW DOES IT WORK?}{5}{chapter.2}%
|
||||
\contentsline {section}{\numberline {2.1}Reserved Pins \& GPIOs}{5}{section.2.1}%
|
||||
\contentsline {subsection}{\numberline {2.1.1}x\sphinxhyphen {} and y\sphinxhyphen {} axis}{5}{subsection.2.1.1}%
|
||||
\contentsline {subsection}{\numberline {2.1.2}Direction and Speed}{5}{subsection.2.1.2}%
|
||||
\contentsline {section}{\numberline {2.2}Fusion of Software with Hardware}{6}{section.2.2}%
|
||||
\contentsline {section}{\numberline {2.3}Schematic}{8}{section.2.3}%
|
||||
\contentsline {chapter}{\numberline {3}DATA STRUCTS}{9}{chapter.3}%
|
||||
\contentsline {section}{\numberline {3.1}Data Payload}{9}{section.3.1}%
|
||||
\contentsline {subsection}{\numberline {3.1.1}Why use \_\_attribute((packed))?}{10}{subsection.3.1.1}%
|
||||
\contentsline {chapter}{\numberline {4}TRANSMITTER}{11}{chapter.4}%
|
||||
\contentsline {section}{\numberline {4.1}Configuration Variables}{11}{section.4.1}%
|
||||
\contentsline {section}{\numberline {4.2}Reading Joystick x\sphinxhyphen {} and y\sphinxhyphen {} Axis Values}{11}{section.4.2}%
|
||||
\contentsline {section}{\numberline {4.3}Sending \& Ecapsulating Data}{11}{section.4.3}%
|
||||
\contentsline {section}{\numberline {4.4}Main Function}{12}{section.4.4}%
|
||||
\contentsline {chapter}{\numberline {5}RECEIVER}{13}{chapter.5}%
|
||||
\contentsline {section}{\numberline {5.1}Configuration Variables}{13}{section.5.1}%
|
||||
\contentsline {section}{\numberline {5.2}Receiving \& Extracting Data}{13}{section.5.2}%
|
||||
\contentsline {section}{\numberline {5.3}Main Function}{14}{section.5.3}%
|
||||
\contentsline {chapter}{\numberline {6}WORK\sphinxhyphen {}IN\sphinxhyphen {}PROGRESS WALK THROUGH}{15}{chapter.6}%
|
||||
\contentsline {section}{\numberline {6.1}Finished Work}{15}{section.6.1}%
|
||||
\contentsline {section}{\numberline {6.2}Chassis}{15}{section.6.2}%
|
||||
\contentsline {section}{\numberline {6.3}Wiring}{15}{section.6.3}%
|
||||
\contentsline {section}{\numberline {6.4}Motor Wires Harness}{15}{section.6.4}%
|
||||
\contentsline {chapter}{\numberline {7}REFERENCES}{19}{chapter.7}%
|
||||
\contentsline {section}{\numberline {7.1}GitHub}{19}{section.7.1}%
|
||||
|
||||
Binary file not shown.
BIN
ESP-IDF_Robot/tutorial/docs/build/rinoh/byterider.rtc
vendored
Normal file
BIN
ESP-IDF_Robot/tutorial/docs/build/rinoh/byterider.rtc
vendored
Normal file
Binary file not shown.
8463
ESP-IDF_Robot/tutorial/docs/build/rinoh/byterider.stylelog
vendored
Normal file
8463
ESP-IDF_Robot/tutorial/docs/build/rinoh/byterider.stylelog
vendored
Normal file
File diff suppressed because it is too large
Load Diff
@@ -1,4 +1,4 @@
|
||||
# Sphinx build info version 1
|
||||
# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
|
||||
config: 00c35e78a8d78c18c724312c8c470c71
|
||||
config: a9b7137a0a42ab0ffd1d3b1ac6a282c7
|
||||
tags: 62a1e7829a13fc7881b6498c52484ec0
|
||||
|
||||
Binary file not shown.
@@ -457,19 +457,6 @@ Changing PWM on each channel determines the speed and direction of the RC car.
|
||||
<p>
|
||||
The table below summarizes the GPIO pins used for PWM to control the direction of the DC motors in the remote-controlled car.
|
||||
</p>
|
||||
<dl class="field-list simple">
|
||||
<dt class="field-odd">
|
||||
class
|
||||
<span class="colon">
|
||||
:
|
||||
</span>
|
||||
</dt>
|
||||
<dd class="field-odd">
|
||||
<p>
|
||||
break
|
||||
</p>
|
||||
</dd>
|
||||
</dl>
|
||||
<table class="docutils align-default">
|
||||
<thead>
|
||||
<tr class="row-odd">
|
||||
|
||||
Reference in New Issue
Block a user