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Alex B.
2025-06-25 02:41:28 -04:00
parent c19b07be2c
commit 6d731dd9d2
1 changed files with 43 additions and 1 deletions
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44
ESP-IDF_Robot/main/rc.h
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@@ -70,7 +70,7 @@ static int check_motor_pcm(int x) {
// Update PWM based on received values // Update PWM based on received values
static void update_pwm (int rc_x, int rc_y) { static void update_pwm (int rc_x, int rc_y) {
//m.motor1_rpm_pcm = check_motor_pcm(rescale_raw_val(x)); //m.motor1_rpm_pcm = check_motor_pcm(rescale_raw_val(x));
x = check_motor_pcm(rescale_raw_val(rc_x)); x = check_motor_pcm(rescale_raw_val(rc_x));
y = check_motor_pcm(rescale_raw_val(rc_y)); y = check_motor_pcm(rescale_raw_val(rc_y));
@@ -130,6 +130,48 @@ static void update_pwm (int rc_x, int rc_y) {
m.motor3_rpm_pcm = 0; m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0; m.motor4_rpm_pcm = 0;
}*/ }*/
if ((x > 0) && (y > 0 && y < 500)) {
//ESP_LOGW("ESP-NOW", "FORWARD");
// Both sides rotate in forward direction.
m.motor1_rpm_pcm = x; // left, forward
m.motor2_rpm_pcm = x; // right, forward
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
else if ((x < 0) && (y > 0 && y < 500)) {
//else if ((x > 0 && x < 500) && (y < -200)) {
//ESP_LOGW("ESP-NOW", "REVERSE");
// Both sides rotate in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -x;
m.motor4_rpm_pcm = -x;
}
else if ((x > 0 && x < 500) && (y < 200)) {
//else if ((y < 0 && y > -200) && (x < -1000)) {
//ESP_LOGW("ESP-NOW", "LEFT");
// Left side rotates in forward direction, right side rotates in reverse direction.
m.motor1_rpm_pcm = -y;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -y;
m.motor4_rpm_pcm = 0;
}
else if ((x > 0 && x < 500) && (y > 600)) {
//else if ((y < 0 && y > -200) && (x > 1000)) {
//ESP_LOGW("ESP-NOW", "RIGHT");
// Right side rotates in forward direction, left side rotates in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = y;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = y;
}
else {
//ESP_LOGW("ESP-NOW", "STAND STILL");
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT, m.motor1_rpm_pcm); ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT, m.motor1_rpm_pcm);
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT); ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT);
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm); ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm);