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ESP-IDF Robot Controls

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Alex B.
2024-12-31 03:39:50 -05:00
parent 4df84eee62
commit 739e3fd1e5
1 changed files with 3 additions and 1 deletions
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4
ESP-IDF_Robot/main/rc.h
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@@ -66,8 +66,10 @@ static void rc_get_raw_data() {
int x = rescale_raw_val(adc_raw[0][0]); int x = rescale_raw_val(adc_raw[0][0]);
int y = rescale_raw_val(adc_raw[0][1]); int y = rescale_raw_val(adc_raw[0][1]);
if ((x > 0 && x < 500) && (y > 500)) if ((x > 0 && x < 500) && (y > 500)) {
ESP_LOGW("RC", "FORWARD"); ESP_LOGW("RC", "FORWARD");
m.motor1_rpm_pcm = rescale_raw_val(adc_raw(y));
}
else if ((x > 0 && x < 500) && (y < -200)) else if ((x > 0 && x < 500) && (y < -200))
ESP_LOGW("RC", "REVERSE"); ESP_LOGW("RC", "REVERSE");
else if ((y < 0 && y > -200) && (x < -1000)) else if ((y < 0 && y > -200) && (x < -1000))