From a38d121551a7853f54722e389003693a662da9d2 Mon Sep 17 00:00:00 2001 From: Alexandre Bobkov Date: Mon, 11 Aug 2025 01:17:27 -0400 Subject: [PATCH] PWM --- ESP-IDF_Robot/main/rc.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h index 7e8948724..7eb9eb420 100644 --- a/ESP-IDF_Robot/main/rc.h +++ b/ESP-IDF_Robot/main/rc.h @@ -103,11 +103,11 @@ static void update_pwm (int rc_x, int rc_y) { // Map joystick to motor direction from y-axis int motor_a_dir = y_centered >= 0 ? 1 : -1; int motor_b_dir = y_centered >= 0 ? 1 : -1; - int motor_a_speed = abs(y_centered) * 255 / 2048; - int motor_b_speed = abs(y_centered) * 255 / 2048; + int motor_a_speed = abs(y_centered) * 8192 / 2048; + int motor_b_speed = abs(y_centered) * 8192 / 2048; // Add turning effect from x-axis - motor_a_speed -= x_centered * 255 / 2048; - motor_b_speed += x_centered * 255 / 2048; + motor_a_speed -= x_centered * 8192 / 2048; + motor_b_speed += x_centered * 8192 / 2048; // Clamp speeds if (motor_a_speed < 0) motor_a_speed = 0; if (motor_b_speed < 0) motor_b_speed = 0;