From c232535488de5f4041e03deae77d394a065f543a Mon Sep 17 00:00:00 2001 From: Alexander Bobkov Date: Sun, 29 Dec 2024 00:26:25 -0500 Subject: [PATCH] ESP-IDF Robot Controls --- ESP-IDF_Robot/main/blink_example_main.c | 32 ++++++++++++++++++++----- 1 file changed, 26 insertions(+), 6 deletions(-) diff --git a/ESP-IDF_Robot/main/blink_example_main.c b/ESP-IDF_Robot/main/blink_example_main.c index 53bc7a270..092d6c4e6 100644 --- a/ESP-IDF_Robot/main/blink_example_main.c +++ b/ESP-IDF_Robot/main/blink_example_main.c @@ -58,8 +58,8 @@ static const char *TAG = "ESP IDF Robot"; #define LEDC_MODE LEDC_LOW_SPEED_MODE // LEDC_LOW_SPEED_MODE #define LEDC_OUTPUT_IO (5) // Define the output GPIO #define LEDC_CHANNEL LEDC_CHANNEL_0 // Right side motors -#define MTR_FRONT_LEFT 0 -#define MTR_FRONT_RIGHT 0 +#define MTR_FRONT_LEFT LEDC_CHANNEL_1 +#define MTR_FRONT_RIGHT LEDC_CHANNEL_0 #define MTR_REAR_LEFT 0 #define MTR_REAR_RIGHT 0 #define MTR_CHANNEL_L LEDC_CHANNEL_1 // Left side motors @@ -268,16 +268,16 @@ static void motors_init (void) { } static void ledc_init (void) { - ledc_timer_config_t ledc_timer = { + ledc_timer_config_t ledc_timer_1 = { .speed_mode = LEDC_MODE, .duty_resolution = LEDC_DUTY_RES, .timer_num = LEDC_TIMER, .freq_hz = LEDC_FREQUENCY, .clk_cfg = LEDC_APB_CLK }; - ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer)); + ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_1)); - ledc_channel_config_t ledc_channel = { + ledc_channel_config_t ledc_channel_1 = { .speed_mode = LEDC_MODE, .channel = LEDC_CHANNEL, .timer_sel = LEDC_TIMER, @@ -286,7 +286,27 @@ static void ledc_init (void) { .duty = LEDC_DUTY, .hpoint = 0, }; - ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel)); + ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_2)); + + ledc_timer_config_t ledc_timer_1 = { + .speed_mode = LEDC_MODE, + .duty_resolution = LEDC_DUTY_RES, + .timer_num = LEDC_TIMER, + .freq_hz = LEDC_FREQUENCY, + .clk_cfg = LEDC_APB_CLK + }; + ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer_2)); + + ledc_channel_config_t ledc_channel_1 = { + .speed_mode = LEDC_MODE, + .channel = LEDC_CHANNEL_, + .timer_sel = LEDC_TIMER, + .intr_type = LEDC_INTR_DISABLE, + .gpio_num = LEDC_OUTPUT_IO, + .duty = LEDC_DUTY, + .hpoint = 0, + }; + ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel_2)); //ESP_ERROR_CHECK(ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY)); //ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL)); }