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RC Robot Tutorial

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Alex B.
2025-07-19 01:48:54 -04:00
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ESP-IDF_Robot/tutorial/docs/build/html/overview.html vendored
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@@ -48,9 +48,29 @@ x- and y- axis potentionometers (<strong>GPIO0</strong> and <strong>GPIO1</stron
</section>
<section id="controlling-the-direction-and-speed">
<h3><span class="section-number">2.1.2. </span>Controlling the Direction and Speed<a class="headerlink" href="#controlling-the-direction-and-speed" title="Link to this heading"></a></h3>
<p>The pairs of DC motors on the left side are wired to the dedicated PWM channels. This means that <em>ESP32-C3 Breadboard DevBoard</em> 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).</p>
<p>To set any desired speed of BiteRider RC car, the <em>ESP32-C3 Breadboard Adapter DevBoard</em> 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.</p>
<p>Due to the design and limited number of available GPIOs, the <em>ESP32-C3 Breadboard DevBoard</em> 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.</p>
<p>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>
<table class="docutils align-default">
<tbody>
<tr class="row-odd"><td><p>PWM of DC Motors</p></td>
<td><p>Direction</p></td>
</tr>
<tr class="row-even"><td><p>PWM (left) = PWM (right)</p></td>
<td><p>Straight (Forward or Reverse)</p></td>
</tr>
<tr class="row-odd"><td><p>PWM (left) &gt; PWM (right)</p></td>
<td><p>Turn Left</p></td>
</tr>
<tr class="row-even"><td><p>PWM (left) &lt; PWM (right)</p></td>
<td><p>Turn Right</p></td>
</tr>
</tbody>
</table>
<div class="admonition-what-is-pwm admonition">
<p class="admonition-title">What is PWM?</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