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pwm

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Alex B.
2025-08-06 04:18:59 -04:00
parent dd7ad1b54e
commit 6fff0e1055
1 changed files with 4 additions and 4 deletions
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8
ESP-IDF_Robot/main/rc.h
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@@ -101,8 +101,8 @@ static void update_pwm (int rc_x, int rc_y) {
// Smooth update // Smooth update
// All forward directions // All forward directions
if (y >= 1500) { if (y >= 1500) {
m.motor1_rpm_pcm = y - x; // Left side motors, forward m.motor1_rpm_pcm = (y - x); // Left side motors, forward
m.motor2_rpm_pcm = y + x; // Right side motors, forward m.motor2_rpm_pcm = (y + x); // Right side motors, forward
m.motor3_rpm_pcm = 0; m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0; m.motor4_rpm_pcm = 0;
} }
@@ -116,7 +116,7 @@ static void update_pwm (int rc_x, int rc_y) {
// ROTATIONS // ROTATIONS
// Rotate right // Rotate right
if ((y < 1500) && (y > 1500)) && (x > 8000) { 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.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -(y - x); m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0; 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) { if ((y < 1500) && (y > 1500)) && (x < 8000) {
m.motor1_rpm_pcm = 0; m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = (y + x); m.motor2_rpm_pcm = (y + x);
m.motor3_rpm_pcm = 0; m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0; m.motor4_rpm_pcm = 0;
} }
// ------------- // -------------