mirror of
https://github.com/alexandrebobkov/ESP-Nodes.git
synced 2025-08-08 07:56:15 +00:00
RC
This commit is contained in:
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ac2d67e9f73223df465a9e31d1449915 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/ESP-IDF_Robot.bin
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e9243bdbefbd77e074d7737d3abd0c60 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/ESP-IDF_Robot.bin
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632211d32ab6b1743da86280cc1eaa13b0f04b96
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@@ -169,3 +169,13 @@
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22 149 1736061078660400140 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/bootloader/esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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9 88 1736061509898952641 esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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9 88 1736061509898952641 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/bootloader/esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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8 72 1736062422448605597 esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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||||
8 72 1736062422448605597 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/bootloader/esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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8 66 1736062430733670193 esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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||||
8 66 1736062430733670193 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/bootloader/esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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||||
7 61 1736062461744911604 esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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7 61 1736062461744911604 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/bootloader/esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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20 98 1736062867855518848 esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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||||
20 98 1736062867855518848 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/bootloader/esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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9 78 1736062928041707516 esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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||||
9 78 1736062928041707516 /home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/bootloader/esp-idf/esptool_py/CMakeFiles/bootloader_check_size 600570684236e3d9
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@@ -3165,7 +3165,7 @@ build esp-idf/partition_table/CMakeFiles/partition_table-flash | ${cmake_ninja_w
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build cmake_object_order_depends_target___idf_esp_app_format: phony || cmake_object_order_depends_target___idf_esp_bootloader_format
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build esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj: C_COMPILER____idf_esp_app_format_unscanned_ /home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c || cmake_object_order_depends_target___idf_esp_app_format
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DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.3.2-dirty\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"ESP-IDF_Robot\" -DPROJECT_VER=\"ESP32-Node_Switch-v2.7-3041-g63\"
|
||||
DEFINES = -DESP_PLATFORM -DIDF_VER=\"v5.3.2-dirty\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\"ESP-IDF_Robot\" -DPROJECT_VER=\"ESP32-Node_Switch-v2.7-3045-g69\"
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DEP_FILE = esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj.d
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FLAGS = -march=rv32imc_zicsr_zifencei -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=/home/alex/github/ESP-Nodes/ESP-IDF_Robot=. -fmacro-prefix-map=/home/alex/esp/v5.3.2/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration
|
||||
INCLUDES = -I/home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/config -I/home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/heap/include -I/home/alex/esp/v5.3.2/esp-idf/components/log/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.3.2/esp-idf/components/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/sys
|
||||
|
@@ -907,7 +907,7 @@
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||||
},
|
||||
{
|
||||
"directory": "/home/alex/github/ESP-Nodes/ESP-IDF_Robot/build",
|
||||
"command": "/home/alex/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin/riscv32-esp-elf-gcc -DESP_PLATFORM -DIDF_VER=\\\"v5.3.2-dirty\\\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\\\"ESP-IDF_Robot\\\" -DPROJECT_VER=\\\"ESP32-Node_Switch-v2.7-3041-g63\\\" -I/home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/config -I/home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/heap/include -I/home/alex/esp/v5.3.2/esp-idf/components/log/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.3.2/esp-idf/components/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/sys -march=rv32imc_zicsr_zifencei -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=/home/alex/github/ESP-Nodes/ESP-IDF_Robot=. -fmacro-prefix-map=/home/alex/esp/v5.3.2/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration -o esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj -c /home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
|
||||
"command": "/home/alex/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin/riscv32-esp-elf-gcc -DESP_PLATFORM -DIDF_VER=\\\"v5.3.2-dirty\\\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\\\"ESP-IDF_Robot\\\" -DPROJECT_VER=\\\"ESP32-Node_Switch-v2.7-3045-g69\\\" -I/home/alex/github/ESP-Nodes/ESP-IDF_Robot/build/config -I/home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.3.2/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.3.2/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.3.2/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/heap/include -I/home/alex/esp/v5.3.2/esp-idf/components/log/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/include -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.3.2/esp-idf/components/hal/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/include/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.3.2/esp-idf/components/esp_common/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/include -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.3.2/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.3.2/esp-idf/components/riscv/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/esp/v5.3.2/esp-idf/components/lwip/port/esp32xx/include/sys -march=rv32imc_zicsr_zifencei -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=/home/alex/github/ESP-Nodes/ESP-IDF_Robot=. -fmacro-prefix-map=/home/alex/esp/v5.3.2/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration -o esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj -c /home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
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"file": "/home/alex/esp/v5.3.2/esp-idf/components/esp_app_format/esp_app_desc.c",
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"output": "esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj"
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},
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{
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"version": "1.1",
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"project_name": "ESP-IDF_Robot",
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"project_version": "ESP32-Node_Switch-v2.7-3041-g632211d32-dirty",
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"project_version": "ESP32-Node_Switch-v2.7-3045-g69843e42b-dirty",
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"project_path": "/home/alex/github/ESP-Nodes/ESP-IDF_Robot",
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"idf_path": "/home/alex/esp/v5.3.2/esp-idf",
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"build_dir": "/home/alex/github/ESP-Nodes/ESP-IDF_Robot/build",
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@@ -51,36 +51,10 @@
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#include "esp_system.h"
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#include "espnow_config.h"
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#include "config.h"
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static const char *TAG = "ESP IDF Robot";
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// MOTORS PWM CONFIG
|
||||
#define MTR_FREQUENCY (5000)
|
||||
#define MTR_MODE LEDC_LOW_SPEED_MODE
|
||||
#define MTR_DUTY_RES LEDC_TIMER_13_BIT
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// LEFT SIDE MOTORS, FORWARD
|
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#define MTR_FRONT_LEFT_IO (6)
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#define MTR_FRONT_LEFT_TMR LEDC_TIMER_0
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#define MTR_FRONT_LEFT LEDC_CHANNEL_1
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#define MTR_FRONT_LEFT_DUTY (3361)
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// RIGHT SIDE MOTORS, FORWARD
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#define MTR_FRONT_RIGHT_IO (5)
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#define MTR_FRONT_RIGHT_TMR LEDC_TIMER_1
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#define MTR_FRONT_RIGHT LEDC_CHANNEL_0
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#define MTR_FRONT_RIGHT_DUTY (3361)
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// LEFT SIDE MOTORS, REVERSE
|
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#define MTR_FRONT_LEFT_REV_IO (4)
|
||||
#define MTR_FRONT_LEFT_REV_TMR LEDC_TIMER_2
|
||||
#define MTR_FRONT_LEFT_REV LEDC_CHANNEL_2
|
||||
#define MTR_FRONT_LEFT_REV_DUTY (3361)
|
||||
// RIGHT SIDE MOTORS, REVERSE
|
||||
#define MTR_FRONT_RIGHT_REV_IO (7)
|
||||
#define MTR_FRONT_RIGHT_REV_TMR LEDC_TIMER_3
|
||||
#define MTR_FRONT_RIGHT_REV LEDC_CHANNEL_3
|
||||
#define MTR_FRONT_RIGHT_REV_DUTY (3361)
|
||||
|
||||
|
||||
#define LEDC_DUTY (3361)//7820) // 8068, 7944, 7820, 7696, 7572, *7680*, 7424, 7168, 6144, 512, 768
|
||||
#define LEDC_FREQUENCY (5000)//8192)//4000) // For LED the freuqncy of 500Hz seems to be sufficient. // Frequency in Hertz. For DC motor, set frequency at 5 kHz
|
||||
|
||||
/* Use project configuration menu (idf.py menuconfig) to choose the GPIO to blink,
|
||||
or you can edit the following line and set a number here.
|
||||
@@ -763,7 +737,7 @@ static void rc_task (void *arg) {
|
||||
//rc_get_raw_data(); // Uncomment to read on-board joystick
|
||||
update_pwm (rc_x, rc_y);
|
||||
|
||||
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_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT);
|
||||
@@ -771,7 +745,7 @@ static void rc_task (void *arg) {
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT_REV, m.motor3_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT_REV);
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT_REV, m.motor4_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);*/
|
||||
|
||||
ESP_LOGI("x,y", "( %d, %d ) [ %d, %d] ", rc_x, rc_y, x, y);
|
||||
/*ESP_LOGW(TAG, "Motor 1 PWM: %d", m.motor1_rpm_pcm);
|
||||
@@ -780,7 +754,7 @@ static void rc_task (void *arg) {
|
||||
ESP_LOGW(TAG, "Motor 4 PWM: %d", m.motor4_rpm_pcm);*/
|
||||
|
||||
//vTaskDelay (10 / portTICK_PERIOD_MS); // Determines responsiveness
|
||||
vTaskDelay (2000 / portTICK_PERIOD_MS);
|
||||
vTaskDelay (1000 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -823,7 +797,7 @@ void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_
|
||||
|
||||
//update_pwm(buf.x_axis, buf.y_axis);
|
||||
update_pwm(rc_x, rc_y);
|
||||
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_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT);
|
||||
@@ -831,7 +805,7 @@ void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT_REV, m.motor3_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT_REV);
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT_REV, m.motor4_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);*/
|
||||
|
||||
}
|
||||
|
||||
|
34
ESP-IDF_Robot/main/config.h
Normal file
34
ESP-IDF_Robot/main/config.h
Normal file
@@ -0,0 +1,34 @@
|
||||
#ifndef CONFIG_H
|
||||
#define CONFIG_H
|
||||
|
||||
// MOTORS PWM CONFIG
|
||||
#define MTR_FREQUENCY (5000)
|
||||
#define MTR_MODE LEDC_LOW_SPEED_MODE
|
||||
#define MTR_DUTY_RES LEDC_TIMER_13_BIT
|
||||
// LEFT SIDE MOTORS, FORWARD
|
||||
#define MTR_FRONT_LEFT_IO (6)
|
||||
#define MTR_FRONT_LEFT_TMR LEDC_TIMER_0
|
||||
#define MTR_FRONT_LEFT LEDC_CHANNEL_1
|
||||
#define MTR_FRONT_LEFT_DUTY (3361)
|
||||
// RIGHT SIDE MOTORS, FORWARD
|
||||
#define MTR_FRONT_RIGHT_IO (5)
|
||||
#define MTR_FRONT_RIGHT_TMR LEDC_TIMER_1
|
||||
#define MTR_FRONT_RIGHT LEDC_CHANNEL_0
|
||||
#define MTR_FRONT_RIGHT_DUTY (3361)
|
||||
// LEFT SIDE MOTORS, REVERSE
|
||||
#define MTR_FRONT_LEFT_REV_IO (4)
|
||||
#define MTR_FRONT_LEFT_REV_TMR LEDC_TIMER_2
|
||||
#define MTR_FRONT_LEFT_REV LEDC_CHANNEL_2
|
||||
#define MTR_FRONT_LEFT_REV_DUTY (3361)
|
||||
// RIGHT SIDE MOTORS, REVERSE
|
||||
#define MTR_FRONT_RIGHT_REV_IO (7)
|
||||
#define MTR_FRONT_RIGHT_REV_TMR LEDC_TIMER_3
|
||||
#define MTR_FRONT_RIGHT_REV LEDC_CHANNEL_3
|
||||
#define MTR_FRONT_RIGHT_REV_DUTY (3361)
|
||||
|
||||
|
||||
#define LEDC_DUTY (3361) //7820) // 8068, 7944, 7820, 7696, 7572, *7680*, 7424, 7168, 6144, 512, 768
|
||||
#define LEDC_FREQUENCY (5000) //8192) //4000) // For LED the freuqncy of 500Hz seems to be sufficient. // Frequency in Hertz. For DC motor, set frequency at 5 kHz
|
||||
|
||||
|
||||
#endif
|
@@ -9,6 +9,7 @@
|
||||
#include "esp_adc/adc_cali_scheme.h"
|
||||
|
||||
#include "controls.h"
|
||||
#include "config.h"
|
||||
|
||||
#define ADC_CHNL ADC_CHANNEL_1
|
||||
#define ADC_ATTEN ADC_ATTEN_DB_11
|
||||
@@ -129,12 +130,15 @@ static void update_pwm (int rc_x, int rc_y) {
|
||||
m.motor3_rpm_pcm = 0;
|
||||
m.motor4_rpm_pcm = 0;
|
||||
}
|
||||
/*}
|
||||
else {
|
||||
x_sum = 0;
|
||||
y_sum = 0;
|
||||
s = 0;
|
||||
}*/
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT, m.motor1_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT);
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT);
|
||||
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT_REV, m.motor3_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT_REV);
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT_REV, m.motor4_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);
|
||||
}
|
||||
|
||||
static void rc_get_raw_data() {
|
||||
|
Reference in New Issue
Block a user