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Simplify motors pwm calculation using unified value for all motors

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This commit is contained in:
Oleg Kalachev 2024-02-06 10:49:48 +03:00
parent 0661aecccf
commit 31d382dd86
1 changed files with 6 additions and 9 deletions
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15
flix/motors.ino
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@ -9,16 +9,13 @@
#define MOTOR_1_PIN 13 #define MOTOR_1_PIN 13
#define MOTOR_2_PIN 14 #define MOTOR_2_PIN 14
#define MOTOR_3_PIN 15 #define MOTOR_3_PIN 15
#define PWM_FREQUENCY 200 #define PWM_FREQUENCY 200
#define PWM_RESOLUTION 8 #define PWM_RESOLUTION 8
#define PWM_NEUTRAL 1500 #define PWM_NEUTRAL 1500
#define PWM_MIN 1600
const uint16_t pwmMin[] = {1600, 1600, 1600, 1600}; #define PWM_MAX 2300
const uint16_t pwmMax[] = {2300, 2300, 2300, 2300}; #define PWM_REVERSE_MIN 1440
const uint16_t pwmReverseMin[] = {1390, 1440, 1440, 1440}; #define PWM_REVERSE_MAX 1100
const uint16_t pwmReverseMax[] = {1100, 1100, 1100, 1100};
void setupMotors() { void setupMotors() {
Serial.println("Setup Motors"); Serial.println("Setup Motors");
@ -43,9 +40,9 @@ uint16_t getPWM(float val, int n) {
if (val == 0) { if (val == 0) {
return PWM_NEUTRAL; return PWM_NEUTRAL;
} else if (val > 0) { } else if (val > 0) {
return mapff(val, 0, 1, pwmMin[n], pwmMax[n]); return mapff(val, 0, 1, PWM_MIN, PWM_MAX);
} else { } else {
return mapff(val, 0, -1, pwmReverseMin[n], pwmReverseMax[n]); return mapff(val, 0, -1, PWM_REVERSE_MIN, PWM_REVERSE_MAX);
} }
} }