From 6fff0e1055e6b80f3822902a58b4c25a718a8e89 Mon Sep 17 00:00:00 2001 From: Alexandre Bobkov Date: Wed, 6 Aug 2025 04:18:59 -0400 Subject: [PATCH] pwm --- ESP-IDF_Robot/main/rc.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h index 8b35fbca4..1b7826306 100644 --- a/ESP-IDF_Robot/main/rc.h +++ b/ESP-IDF_Robot/main/rc.h @@ -101,8 +101,8 @@ static void update_pwm (int rc_x, int rc_y) { // Smooth update // All forward directions if (y >= 1500) { - m.motor1_rpm_pcm = y - x; // Left side motors, forward - m.motor2_rpm_pcm = y + x; // Right side motors, forward + m.motor1_rpm_pcm = (y - x); // Left side motors, forward + m.motor2_rpm_pcm = (y + x); // Right side motors, forward m.motor3_rpm_pcm = 0; m.motor4_rpm_pcm = 0; } @@ -116,7 +116,7 @@ static void update_pwm (int rc_x, int rc_y) { // ROTATIONS // Rotate right if ((y < 1500) && (y > 1500)) && (x > 8000) { - m.motor1_rpm_pcm = y - x; + m.motor1_rpm_pcm = (y - x); m.motor2_rpm_pcm = 0; m.motor3_rpm_pcm = -(y - x); m.motor4_rpm_pcm = 0; @@ -124,7 +124,7 @@ static void update_pwm (int rc_x, int rc_y) { if ((y < 1500) && (y > 1500)) && (x < 8000) { m.motor1_rpm_pcm = 0; m.motor2_rpm_pcm = (y + x); - m.motor3_rpm_pcm = 0; + m.motor3_rpm_pcm = -(y - x); m.motor4_rpm_pcm = 0; } // -------------