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pwm

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Alex B.
2025-08-06 04:14:48 -04:00
parent 095e34ce77
commit 698fe61657
1 changed files with 8 additions and 2 deletions
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10
ESP-IDF_Robot/main/rc.h
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@@ -116,9 +116,15 @@ static void update_pwm (int rc_x, int rc_y) {
// ROTATIONS // ROTATIONS
// Rotate right // Rotate right
if ((y < 1500) && (y > 1500)) && (x > 8000) { if ((y < 1500) && (y > 1500)) && (x > 8000) {
m.motor1_rpm_pcm = 0; m.motor1_rpm_pcm = y - x;
m.motor2_rpm_pcm = 0; m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0; m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0;
}
if ((y < 1500) && (y > 1500)) && (x < 8000) {
m.motor1_rpm_pcm = y - x;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0; m.motor4_rpm_pcm = 0;
} }
// ------------- // -------------