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ESP-IDF Robot Controls

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This commit is contained in:
Alex B.
2024-12-29 00:26:25 -05:00
parent 33648ff702
commit c232535488
1 changed files with 26 additions and 6 deletions
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32
ESP-IDF_Robot/main/blink_example_main.c
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@@ -58,8 +58,8 @@ static const char *TAG = "ESP IDF Robot";
#define LEDC_MODE LEDC_LOW_SPEED_MODE // LEDC_LOW_SPEED_MODE #define LEDC_MODE LEDC_LOW_SPEED_MODE // LEDC_LOW_SPEED_MODE
#define LEDC_OUTPUT_IO (5) // Define the output GPIO #define LEDC_OUTPUT_IO (5) // Define the output GPIO
#define LEDC_CHANNEL LEDC_CHANNEL_0 // Right side motors #define LEDC_CHANNEL LEDC_CHANNEL_0 // Right side motors
#define MTR_FRONT_LEFT 0 #define MTR_FRONT_LEFT LEDC_CHANNEL_1
#define MTR_FRONT_RIGHT 0 #define MTR_FRONT_RIGHT LEDC_CHANNEL_0
#define MTR_REAR_LEFT 0 #define MTR_REAR_LEFT 0
#define MTR_REAR_RIGHT 0 #define MTR_REAR_RIGHT 0
#define MTR_CHANNEL_L LEDC_CHANNEL_1 // Left side motors #define MTR_CHANNEL_L LEDC_CHANNEL_1 // Left side motors
@@ -268,16 +268,16 @@ static void motors_init (void) {
} }
static void ledc_init (void) { static void ledc_init (void) {
ledc_timer_config_t ledc_timer = { ledc_timer_config_t ledc_timer_1 = {
.speed_mode = LEDC_MODE, .speed_mode = LEDC_MODE,
.duty_resolution = LEDC_DUTY_RES, .duty_resolution = LEDC_DUTY_RES,
.timer_num = LEDC_TIMER, .timer_num = LEDC_TIMER,
.freq_hz = LEDC_FREQUENCY, .freq_hz = LEDC_FREQUENCY,
.clk_cfg = LEDC_APB_CLK .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, .speed_mode = LEDC_MODE,
.channel = LEDC_CHANNEL, .channel = LEDC_CHANNEL,
.timer_sel = LEDC_TIMER, .timer_sel = LEDC_TIMER,
@@ -286,7 +286,27 @@ static void ledc_init (void) {
.duty = LEDC_DUTY, .duty = LEDC_DUTY,
.hpoint = 0, .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_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY));
//ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL)); //ESP_ERROR_CHECK(ledc_update_duty(LEDC_MODE, LEDC_CHANNEL));
} }