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pwm

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Alex B.
2025-08-06 09:16:39 -04:00
parent c431eddf81
commit e542ec1754
1 changed files with 1 additions and 24 deletions
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25
ESP-IDF_Robot/main/rc.h
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@@ -97,7 +97,7 @@ static void update_pwm (int rc_x, int rc_y) {
// ADDED ON AUG 6, 2025: to be tested!
// CONTINOUS UPDATE
// Straight Forward
if (x >= 3500 && y >= 500 && y <= 1000) {
/*if (x >= 3500 && y >= 500 && y <= 1000) {
m.motor1_rpm_pcm = 8190; // Left side motors, forward
m.motor2_rpm_pcm = 8190; // Right side motors, forward
m.motor3_rpm_pcm = 0;
@@ -123,30 +123,7 @@ static void update_pwm (int rc_x, int rc_y) {
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;
m.motor4_rpm_pcm = 0;
}
// All reverse directions
/*if (y <= -1500) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -(y - x); // Left side motors, reverse
m.motor4_rpm_pcm = -(y + x); // Right side motors, reverse
}
// ROTATIONS
// Rotate right
if ((y < 1500) && (y > -1500) && (x > 8000)) {
m.motor1_rpm_pcm = (y - x);
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0;
}
// Rotate left
if ((y < 1500) && (y > -1500) && (x < -8000)) {
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = (y + x);
m.motor3_rpm_pcm = -(y - x);
m.motor4_rpm_pcm = 0;
}*/
// -------------
/*
// Turn Left