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Bring back possibility to use ESCs for motors

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This commit is contained in:
Oleg Kalachev 2025-01-09 07:43:49 +03:00
parent 87cf44371b
commit 5d10446aaf
1 changed files with 5 additions and 3 deletions
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8
flix/motors.ino
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@ -2,8 +2,7 @@
// Repository: https://github.com/okalachev/flix
// Motors output control using MOSFETs
// In case of using ESC, use this version of the code: https://gist.github.com/okalachev/8871d3a94b6b6c0a298f41a4edd34c61.
// Motor: 8520 3.7V
// In case of using ESCs, change PWM_MIN and PWM_MAX definitions to appropriate values in μs
#define MOTOR_0_PIN 12 // rear left
#define MOTOR_1_PIN 13 // rear right
@ -12,6 +11,8 @@
#define PWM_FREQUENCY 500
#define PWM_RESOLUTION 8
#define PWM_MIN 0
#define PWM_MAX 1000000 / PWM_FREQUENCY
void setupMotors() {
Serial.println("Setup Motors");
@ -28,7 +29,8 @@ void setupMotors() {
uint8_t getDutyCycle(float value) {
value = constrain(value, 0, 1);
float duty = mapff(value, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
float pwm = mapff(value, 0, 1, PWM_MIN, PWM_MAX);
float duty = mapff(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
return round(duty);
}