pwm

ESP-IDF_Robot/main/blink_example_main.c

@@ -379,8 +379,8 @@ void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_
     rc_x = buf.x_axis;                  // Save joystic x-axis value
     rc_y = buf.y_axis;                  // Save joystic y-axis value
     update_pwm(rc_x, rc_y);
-    mqtt_update_pwm_1(rc_x);
-    mqtt_update_pwm_2(rc_y);
+    mqtt_update_pwm_1(rc_x);            // Publish PWM-1 on MQTT Broker
+    mqtt_update_pwm_2(rc_y);            // Publish PWM-2 on MQTT Broker
 }
 
 void ultrasonic_task (void *arg) {

ESP-IDF_Robot/main/motor_controls.h

@@ -1,5 +1,5 @@
 #ifndef MOTOR_CONTROLS_H
-#define MOTOR_CONTROLSC_H
+#define MOTOR_CONTROLS_H
 
 // Interpolate value (x) based on raw reading, min/max limits.
 /*

ESP-IDF_Robot/main/rc.h

@@ -98,6 +98,37 @@ static void update_pwm (int rc_x, int rc_y) {
     if (1024 < x < 2048 && 1024 < y < 2048) {
     }*/
 
+    // Smooth update
+    // All forward directions
+    if (y >= 1500) {
+        m.motor1_rpm_pcm = (y - x);   // Left side motors, forward
+        m.motor2_rpm_pcm = (y + x);   // Right side motors, forward
+        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;
+    }
+    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
     if (x == 8190 && y == -8190) {
         m.motor1_rpm_pcm = 6172;