alex/ESP-Nodes
1
0
Fork 0
mirror of https://github.com/alexandrebobkov/ESP-Nodes.git synced 2025-08-10 01:43:21 +00:00
Code Issues Packages Projects Releases Wiki Activity

pwm

Browse Source
This commit is contained in:
Alex B.
2025-08-06 09:16:39 -04:00
parent c431eddf81
commit e542ec1754
1 changed files with 1 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
ESP-IDF_Robot/main/rc.h
View File

@@ -97,7 +97,7 @@ static void update_pwm (int rc_x, int rc_y) {
// ADDED ON AUG 6, 2025: to be tested! // ADDED ON AUG 6, 2025: to be tested!
// CONTINOUS UPDATE // CONTINOUS UPDATE
// Straight Forward // 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.motor1_rpm_pcm = 8190; // Left side motors, forward
m.motor2_rpm_pcm = 8190; // Right side motors, forward m.motor2_rpm_pcm = 8190; // Right side motors, forward
m.motor3_rpm_pcm = 0; 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.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0; m.motor3_rpm_pcm = 0;
m.motor4_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 // Turn Left