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875 lines
36 KiB
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ByteRider 06-2025 documentation
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<!-- Cover middle -->
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<div class="cover-middle">
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<div class="title">
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<h1 class="title-cover">
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ByteRider
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</h1>
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<p class="subtitle-cover">
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Version
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<span class="meta">
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<a href="#">
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Table of Contents
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</a>
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</h3>
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<ul>
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<li class="toctree-l1">
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<a class="reference internal" href="#introduction">
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INTRODUCTION
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</a>
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</li>
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<li class="toctree-l1">
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<a class="reference internal" href="#how-does-it-work">
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HOW DOES IT WORK?
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</a>
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<ul>
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<li class="toctree-l2">
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<a class="reference internal" href="#reserved-pins-gpios">
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Reserved Pins & GPIOs
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</a>
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</li>
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<li class="toctree-l2">
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<a class="reference internal" href="#fusion-of-software-with-hardware">
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Fusion of Software with Hardware
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</a>
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</li>
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<li class="toctree-l2">
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<a class="reference internal" href="#schematic">
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Schematic
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</a>
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</li>
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</ul>
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</li>
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<li class="toctree-l1">
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<a class="reference internal" href="#data-struct">
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DATA STRUCT
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</a>
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<ul>
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<li class="toctree-l2">
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<a class="reference internal" href="#struct-walkthrough">
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Struct Walkthrough
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</a>
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</li>
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<li class="toctree-l2">
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<a class="reference internal" href="#why-use-attribute-packed">
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Why Use __attribute((packed))?
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</a>
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</li>
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</ul>
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</li>
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<li class="toctree-l1">
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<a class="reference internal" href="#transmitter">
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TRANSMITTER
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</a>
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<ul>
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<li class="toctree-l2">
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<a class="reference internal" href="#data-encapsulation">
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Data Encapsulation
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</a>
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</li>
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</ul>
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</li>
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<li class="toctree-l1">
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<a class="reference internal" href="#receiver">
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RECEIVER
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</a>
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</li>
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<li class="toctree-l1">
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<a class="reference internal" href="#work-in-progress-walk-through">
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WORK-IN-PROGRESS WALK THROUGH
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</a>
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<ul>
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<li class="toctree-l2">
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<a class="reference internal" href="#finished-work">
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Finished Work
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</a>
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</li>
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<li class="toctree-l2">
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<a class="reference internal" href="#chassis">
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Chassis
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</a>
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</li>
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<li class="toctree-l2">
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<a class="reference internal" href="#wiring">
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Wiring
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</a>
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</li>
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<li class="toctree-l2">
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<a class="reference internal" href="#motor-wires-harness">
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Motor Wires Harness
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</a>
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</li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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</div>
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<div class="document">
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<div class="documentwrapper">
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<div class="bodywrapper">
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<div class="body" role="main">
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<section id="byterider-documentation">
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<h1>
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ByteRider documentation
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<a class="headerlink" href="#byterider-documentation" title="Link to this heading">
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¶
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</a>
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</h1>
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<img alt="_images/ESP-IDF_Robot.jpg" src="_images/ESP-IDF_Robot.jpg"/>
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<div class="toctree-wrapper compound">
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<span id="document-intro">
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</span>
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<section id="introduction">
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<h2>
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INTRODUCTION
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<a class="headerlink" href="#introduction" title="Link to this heading">
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¶
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</a>
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</h2>
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</section>
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<span id="document-overview">
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</span>
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<section id="how-does-it-work">
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<h2>
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HOW DOES IT WORK?
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<a class="headerlink" href="#how-does-it-work" title="Link to this heading">
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¶
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</a>
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</h2>
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<p>
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The BitByteRider RC car is powered by ESP32-C3 Breadboard & Power adapter developmemt board.
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</p>
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<section id="reserved-pins-gpios">
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<h3>
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Reserved Pins & GPIOs
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<a class="headerlink" href="#reserved-pins-gpios" title="Link to this heading">
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¶
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</a>
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</h3>
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<p>
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The following table summarizes GPIOs and pins reserved for operations purposes.
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</p>
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<p>
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The GPIO numbers correspond to those on the ESP32-C3 WROOM microcontroller. The Pin number corresponds to the pin on the Breadboard and Power adapter development board.
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</p>
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<section id="x-and-y-axis">
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<h4>
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x- and y- axis
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<a class="headerlink" href="#x-and-y-axis" title="Link to this heading">
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¶
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</a>
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</h4>
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<p>
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The
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<strong>
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GPIO0
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</strong>
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and
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<strong>
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GPIO1
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</strong>
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assigned to measuring the voltage of x- and y- axis of the Joystick. Lastly, there is a group of GPIO pairs responsible for PWM for DC motors.
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</p>
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</section>
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<section id="direction-and-speed">
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<h4>
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Direction and Speed
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<a class="headerlink" href="#direction-and-speed" title="Link to this heading">
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¶
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</a>
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</h4>
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<p>
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The pairs of DC motors on the left side are wired to the dedicated PWM channels. This means that
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<em>
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ESP32-C3 Breadboard DevBoard
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</em>
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can control rotation speed and direction of DC motors in pairs only (i.e. left and right side).
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Consequently, only four PWM channels are sufficient for controlling the direction of the RC car.
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Based on this constraint, the RC car can only move front, back, and turn/rotate left and right. Any other movements are not possible (i.e. diagonal or sideways).
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</p>
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<p>
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A pair of PWM channels are required for defining rotation speed and direction of the DC motors on each side.
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In particular,
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<strong>
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GPIO6
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</strong>
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and
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<strong>
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GPIO5
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</strong>
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provide PWM to the left- and right- side DC motors to rotate in a
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<strong>
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clockwise
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</strong>
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direction.
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Similarly,
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<strong>
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GPIO4
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</strong>
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and
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<strong>
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GPIO7
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</strong>
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provide PWM to the left- and right- side DC motors to rotate in a
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<strong>
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counter-clockwise
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</strong>
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direction.
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Changing PWM on each channel determines the speed and direction of the RC car.
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</p>
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<p>
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The following images illustrate various PWM duty cycles registered by oscilloscope (duty cycles 0%, 48% and 91%, resp.).
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</p>
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<figure class="align-default" id="id1">
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<img alt="_images/ESP-IDF_Robot_PWM_Duty-0.bmp" src="_images/ESP-IDF_Robot_PWM_Duty-0.bmp"/>
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<figcaption>
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<p>
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<span class="caption-text">
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DC Motor PWM duty cycle 0%
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</span>
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<a class="headerlink" href="#id1" title="Link to this image">
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¶
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</a>
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</p>
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</figcaption>
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</figure>
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<figure class="align-default" id="id2">
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<img alt="_images/ESP-IDF_Robot_PWM_Duty-50.bmp" src="_images/ESP-IDF_Robot_PWM_Duty-50.bmp"/>
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<figcaption>
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<p>
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<span class="caption-text">
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DC Motor PWM duty cycle 47.6%
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</span>
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<a class="headerlink" href="#id2" title="Link to this image">
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¶
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</a>
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</p>
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</figcaption>
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</figure>
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<figure class="align-default" id="id3">
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<img alt="_images/ESP-IDF_Robot_PWM_Duty-95.bmp" src="_images/ESP-IDF_Robot_PWM_Duty-95.bmp"/>
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<figcaption>
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<p>
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<span class="caption-text">
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DC Motor PWM duty cycle 90.8%
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</span>
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<a class="headerlink" href="#id3" title="Link to this image">
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¶
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</a>
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</p>
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</figcaption>
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</figure>
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<br/>
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<br/>
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<br/>
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<br/>
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<table class="docutils align-default">
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<thead>
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<tr class="row-odd">
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<th class="head">
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<p>
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GPIO
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</p>
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</th>
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<th class="head">
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<p>
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Pin
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</p>
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</th>
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<th class="head">
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<p>
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Function
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</p>
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</th>
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<th class="head">
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<p>
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Notes
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</p>
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</th>
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</tr>
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</thead>
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<tbody>
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<tr class="row-even">
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<td>
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<p>
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0
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</p>
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</td>
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<td>
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<p>
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16
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</p>
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</td>
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<td>
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<p>
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Joystick x-axis
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</p>
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</td>
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<td>
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<p>
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ADC1_CH0
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</p>
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</td>
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</tr>
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<tr class="row-odd">
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<td>
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<p>
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1
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</p>
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</td>
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<td>
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<p>
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15
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</p>
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</td>
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<td>
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<p>
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Joystick y-axis
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</p>
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</td>
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<td>
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<p>
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ADC1_CH1
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</p>
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</td>
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</tr>
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<tr class="row-even">
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<td>
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<p>
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8
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</p>
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</td>
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<td>
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<p>
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5
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</p>
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</td>
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<td>
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<p>
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Joystick push button
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</p>
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</td>
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<td>
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</td>
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</tr>
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<tr class="row-odd">
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<td>
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<p>
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6
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</p>
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</td>
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<td>
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<p>
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4
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</p>
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</td>
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<td>
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<p>
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PWM for clockwise rotation of left-side motors
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</p>
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</td>
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<td>
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<p>
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LEDC_CHANNEL_1
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</p>
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</td>
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</tr>
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<tr class="row-even">
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<td>
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<p>
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5
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</p>
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</td>
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<td>
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<p>
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3
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</p>
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</td>
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<td>
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<p>
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PWM for clockwise rotation of right-side motors
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</p>
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</td>
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<td>
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<p>
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LEDC_CHANNEL_0
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</p>
|
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</td>
|
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</tr>
|
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<tr class="row-odd">
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<td>
|
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<p>
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4
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</p>
|
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</td>
|
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<td>
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<p>
|
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2
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</p>
|
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</td>
|
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<td>
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<p>
|
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PWM for counter-clockwise rotation of right-side motors
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</p>
|
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</td>
|
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<td>
|
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<p>
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LEDC_CHANNEL_2
|
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</p>
|
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</td>
|
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</tr>
|
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<tr class="row-even">
|
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<td>
|
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<p>
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7
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</p>
|
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</td>
|
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<td>
|
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<p>
|
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6
|
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</p>
|
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</td>
|
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<td>
|
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<p>
|
|
PWM for counter-clockwise rotation of left-side motors
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</p>
|
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</td>
|
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<td>
|
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<p>
|
|
LEDC_CHANNEL_3
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</p>
|
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</td>
|
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</tr>
|
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</tbody>
|
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</table>
|
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</section>
|
|
</section>
|
|
<section id="fusion-of-software-with-hardware">
|
|
<h3>
|
|
Fusion of Software with Hardware
|
|
<a class="headerlink" href="#fusion-of-software-with-hardware" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<p>
|
|
The
|
|
<em>
|
|
struct
|
|
</em>
|
|
for storing motors PWM values.
|
|
</p>
|
|
<div class="highlight-c notranslate">
|
|
<div class="highlight">
|
|
<pre><span></span><span class="k">struct</span><span class="w"> </span><span class="nc">motors_rpm</span><span class="w"> </span><span class="p">{</span>
|
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<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span>
|
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<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
|
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<span class="p">};</span>
|
|
</pre>
|
|
</div>
|
|
</div>
|
|
<p>
|
|
The function for updating motors’ PWM values.
|
|
</p>
|
|
<div class="highlight-c notranslate">
|
|
<div class="highlight">
|
|
<pre><span></span><span class="c1">// Function to send data to the receiver</span>
|
|
<span class="kt">void</span><span class="w"> </span><span class="nf">sendData</span><span class="w"> </span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
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<span class="w"> </span><span class="n">sensors_data_t</span><span class="w"> </span><span class="n">buffer</span><span class="p">;</span><span class="w"> </span><span class="c1">// Declare data struct</span>
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|
|
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">crc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
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<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
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<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
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<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">nav_bttn</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor1_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor2_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor3_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor4_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
|
|
|
|
<span class="w"> </span><span class="c1">// Display brief summary of data being sent.</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Joystick (x,y) position ( 0x%04X, 0x%04X )"</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">x_axis</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">y_axis</span><span class="p">);</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"pwm 1, pwm 2 [ 0x%04X, 0x%04X ]"</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</span><span class="p">);</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"pwm 3, pwm 4 [ 0x%04X, 0x%04X ]"</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</span><span class="p">);</span>
|
|
|
|
<span class="w"> </span><span class="c1">// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)</span>
|
|
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">result</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">esp_now_send</span><span class="p">(</span><span class="n">receiver_mac</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">buffer</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buffer</span><span class="p">));</span>
|
|
|
|
<span class="w"> </span><span class="c1">// If status is NOT OK, display error message and error code (in hexadecimal).</span>
|
|
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">result</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="mi">0</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGE</span><span class="p">(</span><span class="s">"ESP-NOW"</span><span class="p">,</span><span class="w"> </span><span class="s">"Error sending data! Error code: 0x%04X"</span><span class="p">,</span><span class="w"> </span><span class="n">result</span><span class="p">);</span>
|
|
<span class="w"> </span><span class="n">deletePeer</span><span class="p">();</span>
|
|
<span class="w"> </span><span class="p">}</span>
|
|
<span class="w"> </span><span class="k">else</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="s">"ESP-NOW"</span><span class="p">,</span><span class="w"> </span><span class="s">"Data was sent."</span><span class="p">);</span>
|
|
<span class="p">}</span>
|
|
</pre>
|
|
</div>
|
|
</div>
|
|
<p>
|
|
The onDataReceived() and onDataSent() are two call-bacl functions that get evoked on each corresponding event.
|
|
</p>
|
|
<div class="highlight-c notranslate">
|
|
<div class="highlight">
|
|
<pre><span></span><span class="c1">// Call-back for the event when data is being received</span>
|
|
<span class="kt">void</span><span class="w"> </span><span class="nf">onDataReceived</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">data_len</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
|
|
|
<span class="w"> </span><span class="n">buf</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="n">sensors_data_t</span><span class="o">*</span><span class="p">)</span><span class="n">data</span><span class="p">;</span><span class="w"> </span><span class="c1">// Allocate memory for buffer to store data being received</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Data was received"</span><span class="p">);</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">x_axis</span><span class="p">);</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">y_axis</span><span class="p">);</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"PWM 1: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">motor1_rpm_pwm</span><span class="p">);</span>
|
|
<span class="p">}</span>
|
|
|
|
<span class="c1">// Call-back for the event when data is being sent</span>
|
|
<span class="kt">void</span><span class="w"> </span><span class="nf">onDataSent</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="n">esp_now_send_status_t</span><span class="w"> </span><span class="n">status</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
|
<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Packet send status: 0x%04X"</span><span class="p">,</span><span class="w"> </span><span class="n">status</span><span class="p">);</span>
|
|
<span class="p">}</span>
|
|
</pre>
|
|
</div>
|
|
</div>
|
|
<p>
|
|
The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.
|
|
</p>
|
|
<div class="highlight-c notranslate">
|
|
<div class="highlight">
|
|
<pre><span></span><span class="c1">// Continous, periodic task that sends data.</span>
|
|
<span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">rc_send_data_task</span><span class="w"> </span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
|
|
|
<span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="nb">true</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
|
|
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">esp_now_is_peer_exist</span><span class="p">(</span><span class="n">receiver_mac</span><span class="p">))</span>
|
|
<span class="w"> </span><span class="n">sendData</span><span class="p">();</span>
|
|
<span class="w"> </span><span class="n">vTaskDelay</span><span class="w"> </span><span class="p">(</span><span class="mi">100</span><span class="w"> </span><span class="o">/</span><span class="w"> </span><span class="n">portTICK_PERIOD_MS</span><span class="p">);</span>
|
|
<span class="w"> </span><span class="p">}</span>
|
|
<span class="p">}</span>
|
|
</pre>
|
|
</div>
|
|
</div>
|
|
</section>
|
|
<section id="schematic">
|
|
<h3>
|
|
Schematic
|
|
<a class="headerlink" href="#schematic" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<img alt="_images/ESP-IDF_Robot_schematic.png" src="_images/ESP-IDF_Robot_schematic.png"/>
|
|
</section>
|
|
</section>
|
|
<span id="document-data">
|
|
</span>
|
|
<section id="data-struct">
|
|
<h2>
|
|
DATA STRUCT
|
|
<a class="headerlink" href="#data-struct" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h2>
|
|
<p>
|
|
The struct is used as a payload for sending control signals from transmitting device to the receiver.
|
|
In addition, it may contain telemetry data, battery status, etc.
|
|
</p>
|
|
<p>
|
|
The
|
|
<em>
|
|
sensors_data_t
|
|
</em>
|
|
struct is designed as a data payload that encapsulates all control commands and sensor states relevant to the vehicle’s operation.
|
|
It’s intended to be sent from a transmitting device (like a remote control or master controller) to a receiver (such as a microcontroller onboard the vehicle).
|
|
</p>
|
|
<div class="highlight-c notranslate">
|
|
<div class="highlight">
|
|
<pre><span></span><span class="k">typedef</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="p">{</span>
|
|
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">x_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick x-position</span>
|
|
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">y_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick y-position</span>
|
|
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">nav_bttn</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick push button</span>
|
|
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">led</span><span class="p">;</span><span class="w"> </span><span class="c1">// LED ON/OFF state</span>
|
|
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span><span class="w"> </span><span class="c1">// PWMs for 4 DC motors</span>
|
|
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
|
|
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
|
|
<span class="p">}</span><span class="w"> </span><span class="n">__attribute__</span><span class="p">((</span><span class="n">packed</span><span class="p">))</span><span class="w"> </span><span class="n">sensors_data_t</span><span class="p">;</span>
|
|
</pre>
|
|
</div>
|
|
</div>
|
|
<p>
|
|
When used with communication protocols like ESP-NOW, this struct is
|
|
<strong>
|
|
encoded
|
|
</strong>
|
|
into a byte stream, then
|
|
<strong>
|
|
transmitted
|
|
</strong>
|
|
at regular intervals or in response to user input, and finally
|
|
<strong>
|
|
decoded
|
|
</strong>
|
|
on the receiving end to control hardware.
|
|
</p>
|
|
<section id="struct-walkthrough">
|
|
<h3>
|
|
Struct Walkthrough
|
|
<a class="headerlink" href="#struct-walkthrough" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<p>
|
|
<em>
|
|
x_axis
|
|
</em>
|
|
and
|
|
<em>
|
|
y_axis
|
|
</em>
|
|
fields capture analog input from a joystick, determining direction and speed.
|
|
<em>
|
|
nav_bttn
|
|
</em>
|
|
represents a joystick push-button.
|
|
</p>
|
|
<p>
|
|
<em>
|
|
led
|
|
</em>
|
|
allows the transmitter to toggle an onboard LED and is used for status indication (e.g. pairing, battery warning, etc).
|
|
</p>
|
|
<p>
|
|
<em>
|
|
motor1_rpm_pwm
|
|
</em>
|
|
to
|
|
<em>
|
|
motor4_rpm_pwm
|
|
</em>
|
|
provide individual PWM signals to four DC motors.
|
|
This enables fine-grained speed control, supports differential drive configurations, and even allows for maneuvering in multi-directional platforms like omni-wheel robots.
|
|
</p>
|
|
</section>
|
|
<section id="why-use-attribute-packed">
|
|
<h3>
|
|
Why Use __attribute((packed))?
|
|
<a class="headerlink" href="#why-use-attribute-packed" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<p>
|
|
The packed attribute tells the compiler not to add any padding between fields in memory. This makes the struct:
|
|
</p>
|
|
<blockquote>
|
|
<div>
|
|
<ul class="simple">
|
|
<li>
|
|
<p>
|
|
Compact
|
|
</p>
|
|
</li>
|
|
<li>
|
|
<p>
|
|
Predictable for serialization over protocols like UART or ESP-NOW
|
|
</p>
|
|
</li>
|
|
<li>
|
|
<p>
|
|
Ideal for low-latency transmission in embedded systems
|
|
</p>
|
|
</li>
|
|
</ul>
|
|
</div>
|
|
</blockquote>
|
|
<p>
|
|
This ensures the receiver interprets the exact byte layout you expect, minimizing bandwidth and maximizing compatibility across platforms.
|
|
</p>
|
|
</section>
|
|
</section>
|
|
<span id="document-transmitter">
|
|
</span>
|
|
<section id="transmitter">
|
|
<h2>
|
|
TRANSMITTER
|
|
<a class="headerlink" href="#transmitter" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h2>
|
|
<section id="data-encapsulation">
|
|
<h3>
|
|
Data Encapsulation
|
|
<a class="headerlink" href="#data-encapsulation" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
</section>
|
|
</section>
|
|
<span id="document-receiver">
|
|
</span>
|
|
<section id="receiver">
|
|
<h2>
|
|
RECEIVER
|
|
<a class="headerlink" href="#receiver" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h2>
|
|
</section>
|
|
<span id="document-progress">
|
|
</span>
|
|
<section id="work-in-progress-walk-through">
|
|
<h2>
|
|
WORK-IN-PROGRESS WALK THROUGH
|
|
<a class="headerlink" href="#work-in-progress-walk-through" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h2>
|
|
<section id="finished-work">
|
|
<h3>
|
|
Finished Work
|
|
<a class="headerlink" href="#finished-work" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<img alt="_images/ESP-IDF_Robot.jpg" src="_images/ESP-IDF_Robot.jpg"/>
|
|
</section>
|
|
<section id="chassis">
|
|
<h3>
|
|
Chassis
|
|
<a class="headerlink" href="#chassis" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<figure class="align-center" id="id1">
|
|
<a class="reference internal image-reference" href="_images/chassi-progress_002d.jpg">
|
|
<img alt="_images/chassi-progress_002d.jpg" src="_images/chassi-progress_002d.jpg" style="height: 300px;"/>
|
|
</a>
|
|
<figcaption>
|
|
<p>
|
|
<span class="caption-text">
|
|
Completed chassis with only DC motor controllers installed.
|
|
</span>
|
|
<a class="headerlink" href="#id1" title="Link to this image">
|
|
¶
|
|
</a>
|
|
</p>
|
|
</figcaption>
|
|
</figure>
|
|
</section>
|
|
<section id="wiring">
|
|
<h3>
|
|
Wiring
|
|
<a class="headerlink" href="#wiring" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<figure class="align-center" id="id2">
|
|
<a class="reference internal image-reference" href="_images/chassi-progress_003a.jpg">
|
|
<img alt="_images/chassi-progress_003a.jpg" src="_images/chassi-progress_003a.jpg" style="height: 750px;"/>
|
|
</a>
|
|
<figcaption>
|
|
<p>
|
|
<span class="caption-text">
|
|
Completed wiring.
|
|
</span>
|
|
<a class="headerlink" href="#id2" title="Link to this image">
|
|
¶
|
|
</a>
|
|
</p>
|
|
</figcaption>
|
|
</figure>
|
|
</section>
|
|
<section id="motor-wires-harness">
|
|
<h3>
|
|
Motor Wires Harness
|
|
<a class="headerlink" href="#motor-wires-harness" title="Link to this heading">
|
|
¶
|
|
</a>
|
|
</h3>
|
|
<figure class="align-center" id="id3">
|
|
<img alt="_images/motors-wiring-harness-001.jpg" src="_images/motors-wiring-harness-001.jpg"/>
|
|
<figcaption>
|
|
<p>
|
|
<span class="caption-text">
|
|
DC Motors wires secured inside harnes.
|
|
</span>
|
|
<a class="headerlink" href="#id3" title="Link to this image">
|
|
¶
|
|
</a>
|
|
</p>
|
|
</figcaption>
|
|
</figure>
|
|
</section>
|
|
</section>
|
|
</div>
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|
</section>
|
|
<div class="clearer">
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div class="clearer">
|
|
</div>
|
|
</div>
|
|
<article id="back-cover">
|
|
<div class="container">
|
|
<div class="back-cover-footer">
|
|
<p>
|
|
© Copyright 2025, Alexander B.
|
|
</p>
|
|
<p>
|
|
Created using
|
|
<a href="http://sphinx-doc.org/">
|
|
Sphinx
|
|
</a>
|
|
8.2.3.
|
|
</p>
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|
</div>
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|
</div>
|
|
</article>
|
|
</body>
|
|
</html>
|