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RC

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Alex B.
2025-01-05 02:18:29 -05:00
parent 632211d32a
commit edbcff040f
3 changed files with 7 additions and 7 deletions
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12
ESP-IDF_Robot/main/rc.h
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@@ -73,7 +73,7 @@ static void update_pwm (int rc_x, int rc_y) {
//m.motor1_rpm_pcm = check_motor_pcm(rescale_raw_val(x));
x = check_motor_pcm(rescale_raw_val(rc_x));
y = check_motor_pcm(rescale_raw_val(rc_y));
ESP_LOGI("x,y", "( %d, %d ) [ %d, %d] ", rc_x, rc_y, x, y);
//ESP_LOGI("x,y", "( %d, %d ) [ %d, %d] ", rc_x, rc_y, x, y);
/*if (s < sample) {
x_sum += check_motor_pcm(rescale_raw_val(x));
@@ -88,7 +88,7 @@ static void update_pwm (int rc_x, int rc_y) {
s++;*/
if ((x > 500) && (y > 0 && y < 600)) {
ESP_LOGW("ESP-NOW", "FORWARD");
//ESP_LOGW("ESP-NOW", "FORWARD");
// Both sides rotate in forward direction.
m.motor1_rpm_pcm = x; // left, forward
m.motor2_rpm_pcm = x; // right, forward
@@ -97,7 +97,7 @@ static void update_pwm (int rc_x, int rc_y) {
}
else if ((x < 0) && (y > 0 && y < 600)) {
//else if ((x > 0 && x < 500) && (y < -200)) {
ESP_LOGW("ESP-NOW", "REVERSE");
//ESP_LOGW("ESP-NOW", "REVERSE");
// Both sides rotate in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
@@ -106,7 +106,7 @@ static void update_pwm (int rc_x, int rc_y) {
}
else if ((x > 0 && x < 500) && (y < 200)) {
//else if ((y < 0 && y > -200) && (x < -1000)) {
ESP_LOGW("ESP-NOW", "LEFT");
//ESP_LOGW("ESP-NOW", "LEFT");
// Left side rotates in forward direction, right side rotates in reverse direction.
m.motor1_rpm_pcm = -y;
m.motor2_rpm_pcm = 0;
@@ -115,7 +115,7 @@ static void update_pwm (int rc_x, int rc_y) {
}
else if ((x > 0 && x < 500) && (y > 600)) {
//else if ((y < 0 && y > -200) && (x > 1000)) {
ESP_LOGW("ESP-NOW", "RIGHT");
//ESP_LOGW("ESP-NOW", "RIGHT");
// Right side rotates in forward direction, left side rotates in reverse direction.
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = y;
@@ -123,7 +123,7 @@ static void update_pwm (int rc_x, int rc_y) {
m.motor4_rpm_pcm = y;
}
else {
ESP_LOGW("ESP-NOW", "STAND STILL");
//ESP_LOGW("ESP-NOW", "STAND STILL");
m.motor1_rpm_pcm = 0;
m.motor2_rpm_pcm = 0;
m.motor3_rpm_pcm = 0;