RC Robot Tutorial

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

@@ -22,9 +22,25 @@ x- and y- axis potentionometers (**GPIO0** and **GPIO1**).
 Controlling the Direction and Speed
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-The pairs of DC motors on the left side are wired to the dedicated PWM channels. This means that *ESP32-C3 Breadboard DevBoard* can control rotation speed and direction of DC motors in pairs only (i.e. left and right side).
+To set any desired speed of BiteRider RC car, the *ESP32-C3 Breadboard Adapter DevBoard* uses PWM to control the rotation speed
-Consequently, only four PWM channels are sufficient for controlling the direction of the RC car. 
+of DR motors. Similarly, to set the direction of the RC car, the rotation speed of corresponding DC motors is changed as required.
-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).
+
+Due to the design and limited number of available GPIOs, the *ESP32-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.
+
+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).
+
++--------------------------+-------------------------------+
+| PWM of DC Motors         | Direction                     |
++--------------------------+-------------------------------+
+| PWM (left) = PWM (right) | Straight (Forward or Reverse) |
++--------------------------+-------------------------------+
+| PWM (left) > PWM (right) | Turn Left                     |
++--------------------------+-------------------------------+
+| PWM (left) < PWM (right) | Turn Right                    |
++--------------------------+-------------------------------+
 
 .. admonition:: What is PWM?
 

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

@@ -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).
+<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
-Consequently, only four PWM channels are sufficient for controlling the direction of the RC car.
+of DR motors. Similarly, to set the direction of the RC car, the rotation speed of corresponding DC motors is changed as required.</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>
+<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

ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo

@@ -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: 1584acc0da0952bbe91b77f110c060a0
+config: 8b29499e4c17b20d084216bf1331defb
 tags: 62a1e7829a13fc7881b6498c52484ec0

ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html

@@ -337,14 +337,78 @@ x- and y- axis potentionometers (
             </a>
            </h4>
            <p>
-            The pairs of DC motors on the left side are wired to the dedicated PWM channels. This means that
+            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).
+            can control rotation speed and direction
-Consequently, only four PWM channels are sufficient for controlling the direction of the RC car.
+of DC motors in pairs only (i.e. left and right side). Consequently, this means that the four PWM channels used for controlling the
-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).
+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?