From e542ec17547c02d27bf386966c8484d94ce1b64b Mon Sep 17 00:00:00 2001 From: Alexander B Date: Wed, 6 Aug 2025 09:16:39 -0400 Subject: [PATCH] pwm --- ESP-IDF_Robot/main/rc.h | 25 +------------------------ 1 file changed, 1 insertion(+), 24 deletions(-) diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h index 12cf6c82d..949986961 100644 --- a/ESP-IDF_Robot/main/rc.h +++ b/ESP-IDF_Robot/main/rc.h @@ -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