From d88aeba7750b09bd824378f5cfdb3787f3dc4bce Mon Sep 17 00:00:00 2001 From: Alexander Bobkov Date: Sat, 28 Dec 2024 23:18:22 -0500 Subject: [PATCH] ESP-IDF Robot Controls --- ESP-IDF_Robot/main/rc.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h index 9083cc6dd..ace75c6c8 100644 --- a/ESP-IDF_Robot/main/rc.h +++ b/ESP-IDF_Robot/main/rc.h @@ -60,10 +60,10 @@ static void rc_get_raw_data() { ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN1, &adc_raw[0][1])); ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Raw Data: %d", ADC_UNIT_1 + 1, ADC1_CHAN0, adc_raw[0][0]); ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Raw Data: %d", ADC_UNIT_1 + 1, ADC1_CHAN1, adc_raw[0][1]); - ESP_LOGI("Joystick", "Position: %d", interpolate_raw_val(adc_raw[0][0])); - ESP_LOGI("Joystick", "Position: %d", interpolate_raw_val(adc_raw[0][1])); - m.motor1_rpm_pcm = interpolate_raw_val(adc_raw[0][0]); - m.motor2_rpm_pcm = interpolate_raw_val(adc_raw[0][1]); + ESP_LOGI("Joystick", "Position: %d", rescale_raw_val(adc_raw[0][0])); + ESP_LOGI("Joystick", "Position: %d", rescale_raw_val(adc_raw[0][1])); + m.motor1_rpm_pcm = rescale_raw_val(adc_raw[0][0]); + m.motor2_rpm_pcm = rescale_raw_val(adc_raw[0][1]); ESP_LOGI("PWM", "Motor 1 PWM: %d", m.motor1_rpm_pcm); ESP_LOGI("PWM", "Motor 2 PWM: %d", m.motor2_rpm_pcm);