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RC

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Alex B.
2025-01-05 00:55:36 -05:00
parent 42f942fac6
commit 6d87c91b49
1 changed files with 18 additions and 0 deletions
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18
ESP-IDF_Robot/main/rc.h
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@@ -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() {