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ESP-IDF RC Motors Controls

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Alex B.
2024-12-31 05:29:27 -05:00
parent 11f7a142ba
commit 8a2e03923c
1 changed files with 25 additions and 26 deletions
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51
ESP-IDF_Robot/main/blink_example_main.c
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@@ -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;