From fbc130e0b1b50751a39c1ec4cb72f837cb088e66 Mon Sep 17 00:00:00 2001 From: Alexandre Bobkov Date: Sat, 5 Jul 2025 23:17:26 -0400 Subject: [PATCH] manual --- ESP-IDF_Robot/tutorial/docs/source/overview.rst | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ESP-IDF_Robot/tutorial/docs/source/overview.rst b/ESP-IDF_Robot/tutorial/docs/source/overview.rst index 3d9de6cfd..713878e50 100644 --- a/ESP-IDF_Robot/tutorial/docs/source/overview.rst +++ b/ESP-IDF_Robot/tutorial/docs/source/overview.rst @@ -29,7 +29,10 @@ Based on this constraint, the RC car can only move front, back, and turn/rotate **PWM** (Pulse Width Modulation) is a technique used to simulate analog voltage levels using ddiscrete igital signals. It works by rapidly switching a digital pin between HIGH (on) and LOW (off) states at a fixed frequency (often, at base frequency of 5 kHz). The duty cycle—the percentage of time the signal is HIGH in one - cycle—determines the effective voltage delivered to a device. + cycle determines the effective voltage delivered to a device. + + A higher duty cycle increases the motor speed, and a lower duty cycle decreases the motor speed. This allows for fine-grained speed control + without needing analog voltage regulators. A pair of PWM channels are required for defining rotation speed and direction of the DC motors on each side. In particular, **GPIO6** and **GPIO5** provide PWM to the left- and right- side DC motors to rotate in a **clockwise** direction.