diff --git a/ESP-IDF_Robot/main/blink_example_main.c b/ESP-IDF_Robot/main/blink_example_main.c index 4e33022d7..ea2173b38 100644 --- a/ESP-IDF_Robot/main/blink_example_main.c +++ b/ESP-IDF_Robot/main/blink_example_main.c @@ -53,20 +53,19 @@ static const char *TAG = "ESP IDF Robot"; // MOTORS PWM CONFIG -#define MTR_FREQUENCY (5000) -#define MTR_MODE LEDC_LOW_SPEED_MODE -#define MTR_DUTY_RES LEDC_TIMER_13_BIT +#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) +#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) - +#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 @@ -92,29 +91,29 @@ TIMER RESOLUTION MAX VALUE HALF-DUTY 10 1023 511 13 8191 4095 */ -#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 +#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. */ // Retrieve values from configuration menu -#define BLINK_GPIO CONFIG_BLINK_GPIO // 10 GPIO of on-board LED -#define PUSH_BTN_GPIO CONFIG_BUTTON_GPIO // 3 GPIO of on-board push-button -#define MTR_FL_GPIO 0 //CONFIG_MOTOR_FRONT_LEFT_GPIO +#define BLINK_GPIO CONFIG_BLINK_GPIO // 10 GPIO of on-board LED +#define PUSH_BTN_GPIO CONFIG_BUTTON_GPIO // 3 GPIO of on-board push-button +#define MTR_FL_GPIO 0 //CONFIG_MOTOR_FRONT_LEFT_GPIO // ADC -#define ADC_ATTEN ADC_ATTEN_DB_11 -#define ADC_BIT_WIDTH SOC_ADC_DIGI_MAX_BITWIDTH -#define ADC_UNIT ADC_UNIT_1 -#define ADC_CONV_MODE ADC_CONV_BOTH_UNIT// ADC_CONV_SINGLE_UNIT_1 -#define ADC_OUTPUT_TYPE ADC_DIGI_OUTPUT_FORMAT_TYPE2 // ESP32C3 -#define READ_LEN 1024//256 +#define ADC_ATTEN ADC_ATTEN_DB_11 +#define ADC_BIT_WIDTH SOC_ADC_DIGI_MAX_BITWIDTH +#define ADC_UNIT ADC_UNIT_1 +#define ADC_CONV_MODE ADC_CONV_BOTH_UNIT// ADC_CONV_SINGLE_UNIT_1 +#define ADC_OUTPUT_TYPE ADC_DIGI_OUTPUT_FORMAT_TYPE2 // ESP32C3 +#define READ_LEN 1024//256 #define ADC_GET_CHANNEL(p_data) ((p_data)->type2.channel) #define ADC_GET_DATA(p_data) ((p_data)->type2.data) -#define PROJ_X (1) // ADC1_CH1; 0 GPIO joystick, x-axis -#define PROJ_Y (0) // ADC1_CH0; 1 GPIO joystick, y-axis -#define NAV_BTN (8) // 8 GPIO joystick button +#define PROJ_X (1) // ADC1_CH1; 0 GPIO joystick, x-axis +#define PROJ_Y (0) // ADC1_CH0; 1 GPIO joystick, y-axis +#define NAV_BTN (8) // 8 GPIO joystick button #define _ADC_UNIT_STR(unit) #unit #define ADC_UNIT_STR(unit) _ADC_UNIT_STR(unit) uint32_t x_avg = 0, y_avg = 0;