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ESP32-C3 RC

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Alex B.
2025-01-02 01:04:15 -05:00
parent 05fad119e3
commit d692cabd0a
1 changed files with 5 additions and 3 deletions
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8
ESP-IDF_Robot/main/rc.h
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@@ -56,13 +56,14 @@ static esp_err_t rc_adc_init (void) {
return ESP_OK;
}
static void set_motor_pcm(int* motor , int duty) {
static int set_motor_pcm(int duty) {
if (abs(duty) >= 8191)
*motor = 8191;
return (int)8191;
else
*motor = abs(duty);
return (int)abs(duty);
}
static void rc_get_raw_data() {
ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN0, &adc_raw[0][0]));
ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN1, &adc_raw[0][1]));
@@ -73,6 +74,7 @@ static void rc_get_raw_data() {
int x = rescale_raw_val(adc_raw[0][0]);
int y = rescale_raw_val(adc_raw[0][1]);
if ((x > 0 && x < 500) && (y > 500)) {
ESP_LOGW("RC", "FORWARD");
//set_motor_pcm(&m.motor1_rpm_pcm, y);