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PWM

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Alex B.
2025-08-11 00:40:37 -04:00
parent b30f2e3130
commit c0e193c70f
1 changed files with 5 additions and 0 deletions
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5
ESP-IDF_Robot/main/rc.h
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@@ -100,10 +100,15 @@ static void update_pwm (int rc_x, int rc_y) {
int y_val = y; int y_val = y;
int x_centered = x_val - 2048; int x_centered = x_val - 2048;
int y_centered = x_val - 2048; int y_centered = x_val - 2048;
// 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) * 255 / 2048;
int motor_a_speed = abs(y_centered) * 255 / 2048; int motor_a_speed = abs(y_centered) * 255 / 2048;
// Add turning effect from x-axis
motor_a_speed -= x_centered * 255 / 2048;
motor_b_speed += x_centered * 255 / 2048;
// Turn Left // Turn Left