From ac49df7c9bcf4a0fd69e6a1a3e7f46485cb0b330 Mon Sep 17 00:00:00 2001
From: Alexandre Bobkov RhjRb`
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt
index 833b18635..f4bb1c5d1 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/overview.rst.txt
@@ -4,7 +4,7 @@ HOW DOES IT WORK?
The BitByteRider RC car is powered by ESP32-C3 Breadboard & Power adapter developmemt board.
-Reserver Pins & GPIOs
+Reserved Pins & GPIOs
---------------------
The following table summarizes GPIOs and pins reserved for operations purposes.
@@ -16,12 +16,15 @@ x- and y- axis
The GPIO0 and GPIO1 assigned to measuring the voltage of x- and y- axis of the Joystick. Lastly, there is a group of GPIO pairs responsible for PWM for DC motors.
-Direction and speed
+Direction and Speed
~~~~~~~~~~~~~~~~~~~
-The two DC motors on the left side are wired to the same PWM channel, as well as the two DC motors on the right side. Consequently, only four PWM channels are required for controlling the direction of the RC car.
+The two DC motors on the left side are wired to the dedicated PWM channels in pairs. This means that PWM channels can control rotation speed and direction of DC motors in pairs (i.e. left and right side).
+Consequently, only four PWM channels are required for controlling the direction of the RC car.
+Based on this constraint, the RC car can only move front, back, and rotate left and right. Any other movements are not possible (i.e. diagonal).
+
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.
+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.
Changing PWM on each channel determines the speed and direction of the RC car.
diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/index.html b/ESP-IDF_Robot/tutorial/docs/build/html/index.html
index 3864b4ab3..99498b46c 100644
--- a/ESP-IDF_Robot/tutorial/docs/build/html/index.html
+++ b/ESP-IDF_Robot/tutorial/docs/build/html/index.html
@@ -41,7 +41,7 @@ documentation for details.
The BitByteRider RC car is powered by ESP32-C3 Breadboard & Power adapter developmemt board.
-The following table summarizes GPIOs and pins reserved for operations purposes.
The GPIO numbers correspond to those on the ESP32-C3 WROOM microcontroller. The Pin number corresponds to the pin on the Breadboard and Power adapter development board.
The GPIO0 and GPIO1 assigned to measuring the voltage of x- and y- axis of the Joystick. Lastly, there is a group of GPIO pairs responsible for PWM for DC motors.
The two DC motors on the left side are wired to the same PWM channel, as well as the two DC motors on the right side. Consequently, only four PWM channels are required for controlling the direction of the RC car. -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. +
The two DC motors on the left side are wired to the dedicated PWM channels in pairs. This means that PWM channels can control rotation speed and direction of DC motors in pairs (i.e. left and right side). +Consequently, only four PWM channels are required for controlling the direction of the RC car. +Based on this constraint, the RC car can only move front, back, and rotate left and right. Any other movements are not possible (i.e. diagonal).
+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. Changing PWM on each channel determines the speed and direction of the RC car.