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PWM

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Alex B.
2025-08-11 01:17:27 -04:00
parent 3d668c241a
commit a38d121551
1 changed files with 4 additions and 4 deletions
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8
ESP-IDF_Robot/main/rc.h
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@@ -103,11 +103,11 @@ static void update_pwm (int rc_x, int rc_y) {
// Map joystick to motor direction from y-axis // Map joystick to motor direction from y-axis
int motor_a_dir = y_centered >= 0 ? 1 : -1; int motor_a_dir = y_centered >= 0 ? 1 : -1;
int motor_b_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_a_speed = abs(y_centered) * 8192 / 2048;
int motor_b_speed = abs(y_centered) * 255 / 2048; int motor_b_speed = abs(y_centered) * 8192 / 2048;
// Add turning effect from x-axis // Add turning effect from x-axis
motor_a_speed -= x_centered * 255 / 2048; motor_a_speed -= x_centered * 8192 / 2048;
motor_b_speed += x_centered * 255 / 2048; motor_b_speed += x_centered * 8192 / 2048;
// Clamp speeds // Clamp speeds
if (motor_a_speed < 0) motor_a_speed = 0; if (motor_a_speed < 0) motor_a_speed = 0;
if (motor_b_speed < 0) motor_b_speed = 0; if (motor_b_speed < 0) motor_b_speed = 0;