From 6d87c91b49434ad57619c3d17b9962c1c02889a7 Mon Sep 17 00:00:00 2001
From: Alexander B <alexandre.bobkov@gmail.com>
Date: Sun, 5 Jan 2025 00:55:36 -0500
Subject: [PATCH] RC

---
 ESP-IDF_Robot/main/rc.h | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index 4063bd0f5..c4b42c316 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -73,6 +73,24 @@ static void update_pwm (int x, int y) {
     ESP_LOGI("x,y", "%d, %d", 
         check_motor_pcm(rescale_raw_val(x)),
         check_motor_pcm(rescale_raw_val(y)));
+
+    if (s < sample) {
+        x_sum += check_motor_pcm(rescale_raw_val(adc_raw[0][0]));
+        y_sum += check_motor_pcm(rescale_raw_val(adc_raw[0][1]));
+        s ++;
+    }
+    else if (s == sample) {
+        //x = check_motor_pcm(rescale_raw_val(adc_raw[0][0]));
+        //y = check_motor_pcm(rescale_raw_val(adc_raw[0][1]));
+        x = x_sum / sample;
+        y = y_sum / sample;
+        s++;
+    }
+    else {
+        x_sum = 0;
+        y_sum = 0;
+        s = 0;
+    }
 }
 
 static void rc_get_raw_data() {