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https://github.com/alexandrebobkov/ESP-Nodes.git
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a17681695fbd59172dea7a5e3fb2dce5 /home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot/build/ESP-IDF_Robot.bin
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97c2a2f37ea8f69cb78b005b8f6ed8d3 /home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot/build/ESP-IDF_Robot.bin
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},
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{
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||||
"directory": "/home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot/build",
|
||||
"command": "/home/alex/.espressif/tools/riscv32-esp-elf/esp-14.2.0_20241119/riscv32-esp-elf/bin/riscv32-esp-elf-gcc -DESP_PLATFORM -DIDF_VER=\\\"v5.4.1-dirty\\\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\\\"ESP-IDF_Robot\\\" -DPROJECT_VER=\\\"ESP32-Node_Switch-v2.7-9218-g3d\\\" -I/home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot/build/config -I/home/alex/esp/v5.4.1/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.4.1/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/debug_probe/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/heap/include -I/home/alex/esp/v5.4.1/esp-idf/components/heap/tlsf -I/home/alex/esp/v5.4.1/esp-idf/components/log/include -I/home/alex/esp/v5.4.1/esp-idf/components/soc/include -I/home/alex/esp/v5.4.1/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/soc/esp32c3/register -I/home/alex/esp/v5.4.1/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.4.1/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/hal/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/esp32c3/include/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/esp_common/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.4.1/esp-idf/components/riscv/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/esp32xx/include/sys -march=rv32imc_zicsr_zifencei -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-error=extra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=/home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot=. -fmacro-prefix-map=/home/alex/esp/v5.4.1/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration -o esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj -c /home/alex/esp/v5.4.1/esp-idf/components/esp_app_format/esp_app_desc.c",
|
||||
"command": "/home/alex/.espressif/tools/riscv32-esp-elf/esp-14.2.0_20241119/riscv32-esp-elf/bin/riscv32-esp-elf-gcc -DESP_PLATFORM -DIDF_VER=\\\"v5.4.1-dirty\\\" -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -DSOC_XTAL_FREQ_MHZ=CONFIG_XTAL_FREQ -D_GLIBCXX_HAVE_POSIX_SEMAPHORE -D_GLIBCXX_USE_POSIX_SEMAPHORE -D_GNU_SOURCE -D_POSIX_READER_WRITER_LOCKS -D PROJECT_NAME=\\\"ESP-IDF_Robot\\\" -DPROJECT_VER=\\\"ESP32-Node_Switch-v2.7-9286-g0e\\\" -I/home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot/build/config -I/home/alex/esp/v5.4.1/esp-idf/components/esp_app_format/include -I/home/alex/esp/v5.4.1/esp-idf/components/newlib/platform_include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/config/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/config/include/freertos -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/config/riscv/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/FreeRTOS-Kernel/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos -I/home/alex/esp/v5.4.1/esp-idf/components/freertos/esp_additions/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/include/soc -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/include/soc/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/dma/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/ldo/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/debug_probe/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/port/esp32c3/. -I/home/alex/esp/v5.4.1/esp-idf/components/esp_hw_support/port/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/heap/include -I/home/alex/esp/v5.4.1/esp-idf/components/heap/tlsf -I/home/alex/esp/v5.4.1/esp-idf/components/log/include -I/home/alex/esp/v5.4.1/esp-idf/components/soc/include -I/home/alex/esp/v5.4.1/esp-idf/components/soc/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/soc/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/soc/esp32c3/register -I/home/alex/esp/v5.4.1/esp-idf/components/hal/platform_port/include -I/home/alex/esp/v5.4.1/esp-idf/components/hal/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/hal/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/esp32c3/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/esp32c3/include/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/esp_rom/esp32c3 -I/home/alex/esp/v5.4.1/esp-idf/components/esp_common/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/include -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/port/soc -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/port/include/riscv -I/home/alex/esp/v5.4.1/esp-idf/components/esp_system/port/include/private -I/home/alex/esp/v5.4.1/esp-idf/components/riscv/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/include/apps -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/include/apps/sntp -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/lwip/src/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/freertos/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/esp32xx/include -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/esp32xx/include/arch -I/home/alex/esp/v5.4.1/esp-idf/components/lwip/port/esp32xx/include/sys -march=rv32imc_zicsr_zifencei -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=unused-but-set-variable -Wno-error=deprecated-declarations -Wextra -Wno-error=extra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -nostartfiles -Og -fno-shrink-wrap -fmacro-prefix-map=/home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot=. -fmacro-prefix-map=/home/alex/esp/v5.4.1/esp-idf=/IDF -fstrict-volatile-bitfields -fno-jump-tables -fno-tree-switch-conversion -std=gnu17 -Wno-old-style-declaration -o esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj -c /home/alex/esp/v5.4.1/esp-idf/components/esp_app_format/esp_app_desc.c",
|
||||
"file": "/home/alex/esp/v5.4.1/esp-idf/components/esp_app_format/esp_app_desc.c",
|
||||
"output": "esp-idf/esp_app_format/CMakeFiles/__idf_esp_app_format.dir/esp_app_desc.c.obj"
|
||||
},
|
||||
|
||||
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@@ -1,7 +1,7 @@
|
||||
{
|
||||
"version": "1.2",
|
||||
"project_name": "ESP-IDF_Robot",
|
||||
"project_version": "ESP32-Node_Switch-v2.7-9218-g3dd9b66b2-dirty",
|
||||
"project_version": "ESP32-Node_Switch-v2.7-9286-g0e6d6de77-dirty",
|
||||
"project_path": "/home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot",
|
||||
"idf_path": "/home/alex/esp/v5.4.1/esp-idf",
|
||||
"build_dir": "/home/alex/MyProjects/ESP-Nodes/ESP-IDF_Robot/build",
|
||||
|
||||
@@ -7,6 +7,7 @@
|
||||
Updated: Jan 10, 2025
|
||||
Jun 26, 2025
|
||||
Jul 26, 2025 (ESP-IDF + MQTT + WiFi)
|
||||
Aug 6 , 2025 Continous interpolation of joystick x- and y- values
|
||||
|
||||
built-in LED GPIO: 10
|
||||
build-in push button GPIO: 3
|
||||
|
||||
@@ -18,18 +18,16 @@
|
||||
|
||||
//static const char *TAG = "ESP IDF Robot"
|
||||
struct motors_rpm m;
|
||||
|
||||
|
||||
static int adc_raw[2][10];
|
||||
static int voltage[2][10];
|
||||
static int s = 0, sample = 5, x = 0, y = 0, x_sum = 0, y_sum = 0;
|
||||
static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle);
|
||||
static void adc_calibration_deinit(adc_cali_handle_t handle);
|
||||
adc_cali_handle_t adc1_cali_chan0_handle, adc1_cali_chan1_handle;
|
||||
|
||||
adc_oneshot_unit_handle_t adc1_handle;
|
||||
bool do_calibration1_chan0, do_calibration1_chan1;
|
||||
|
||||
adc_cali_handle_t adc1_cali_chan0_handle, adc1_cali_chan1_handle;
|
||||
adc_oneshot_unit_handle_t adc1_handle;
|
||||
static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle);
|
||||
static void adc_calibration_deinit(adc_cali_handle_t handle);
|
||||
static int interpolate_raw_val (int raw);
|
||||
static int rescale_raw_val (int raw);
|
||||
|
||||
@@ -49,7 +47,6 @@ static esp_err_t rc_adc_init (void) {
|
||||
ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, ADC1_CHAN1, &config));
|
||||
|
||||
//-------------ADC1 Calibration Init---------------//
|
||||
|
||||
adc1_cali_chan0_handle = NULL;
|
||||
adc1_cali_chan1_handle = NULL;
|
||||
do_calibration1_chan0 = adc_calibration_init(ADC_UNIT_1, ADC1_CHAN0, ADC_ATTEN, &adc1_cali_chan0_handle);
|
||||
@@ -72,7 +69,6 @@ static int check_motor_pcm(int x) {
|
||||
// IMPORTANT: x and y values correspod to the PWM!
|
||||
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);
|
||||
@@ -95,10 +91,11 @@ static void update_pwm (int rc_x, int rc_y) {
|
||||
(-, +) (0, 0) (+, -)
|
||||
(-, -0) (-, -) (-0, -)
|
||||
|
||||
if (1024 < x < 2048 && 1024 < y < 2048) {
|
||||
}*/
|
||||
if (1024 < x < 2048 && 1024 < y < 2048) {}
|
||||
*/
|
||||
|
||||
// Smooth update
|
||||
// ADDED ON AUG 6, 2025
|
||||
// CONTINOUS UPDATE
|
||||
// All forward directions
|
||||
if (y >= 1500) {
|
||||
m.motor1_rpm_pcm = (y - x); // Left side motors, forward
|
||||
@@ -115,13 +112,13 @@ static void update_pwm (int rc_x, int rc_y) {
|
||||
}
|
||||
// ROTATIONS
|
||||
// Rotate right
|
||||
if ((y < 1500) && (y > 1500)) && (x > 8000) {
|
||||
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) {
|
||||
if ((y < 1500) && (y > 1500) && (x < 8000)) {
|
||||
m.motor1_rpm_pcm = 0;
|
||||
m.motor2_rpm_pcm = (y + x);
|
||||
m.motor3_rpm_pcm = -(y - x);
|
||||
@@ -129,6 +126,7 @@ static void update_pwm (int rc_x, int rc_y) {
|
||||
}
|
||||
// -------------
|
||||
|
||||
/*
|
||||
// Turn Left
|
||||
if (x == 8190 && y == -8190) {
|
||||
m.motor1_rpm_pcm = 6172;
|
||||
@@ -196,7 +194,8 @@ 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;
|
||||
}
|
||||
}*/
|
||||
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_LEFT, m.motor1_rpm_pcm);
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_LEFT);
|
||||
ledc_set_duty(MTR_MODE, MTR_FRONT_RIGHT, m.motor2_rpm_pcm);
|
||||
@@ -208,7 +207,7 @@ static void update_pwm (int rc_x, int rc_y) {
|
||||
ledc_update_duty(MTR_MODE, MTR_FRONT_RIGHT_REV);
|
||||
}
|
||||
|
||||
static void rc_get_raw_data() {
|
||||
/*static void rc_get_raw_data() {
|
||||
|
||||
ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN0, &adc_raw[0][0]));
|
||||
ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN1, &adc_raw[0][1]));
|
||||
@@ -292,7 +291,7 @@ static void rc_get_raw_data() {
|
||||
ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc1_cali_chan1_handle, adc_raw[0][1], &voltage[0][1]));
|
||||
ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Cali Voltage: %d mV", ADC_UNIT_1 + 1, ADC1_CHAN1, voltage[0][1]);
|
||||
}
|
||||
}
|
||||
}*/
|
||||
|
||||
static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle)
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user