From 85819ed866ec997165ceb49298191bd019fe0b30 Mon Sep 17 00:00:00 2001 From: Alexandre Bobkov Date: Sat, 5 Jul 2025 22:48:29 -0400 Subject: [PATCH] manual --- ESP-IDF_Robot/tutorial/docs/source/overview.rst | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ESP-IDF_Robot/tutorial/docs/source/overview.rst b/ESP-IDF_Robot/tutorial/docs/source/overview.rst index f2e4fa731..6de7a749d 100644 --- a/ESP-IDF_Robot/tutorial/docs/source/overview.rst +++ b/ESP-IDF_Robot/tutorial/docs/source/overview.rst @@ -27,6 +27,12 @@ Based on this constraint, the RC car can only move front, back, and turn/rotate .. note:: + What is PWM? + + PWM (Pulse Width Modulation) is a technique used to simulate analog voltage levels using digital signals. It works by rapidly switching a + digital pin between HIGH (on) and LOW (off) states at a fixed frequency. The duty cycle—the percentage of time the signal is HIGH in one + cycle—determines the effective voltage delivered to a device. + A pair of PWM channels are required for defining rotation speed and direction of the DC motors on each side. In particular, **GPIO6** and **GPIO5** provide PWM to the left- and right- side DC motors to rotate in a **clockwise** direction. Similarly, **GPIO4** and **GPIO7** provide PWM to the left- and right- side DC motors to rotate in a **counter-clockwise** direction.