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Better support for ESCs, add PWM_STOP parameter

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Oleg Kalachev 2025-01-10 10:49:40 +03:00
parent 821e6b105e
commit b9e30be98c
1 changed files with 3 additions and 1 deletions
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4
flix/motors.ino
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@ -2,7 +2,7 @@
// Repository: https://github.com/okalachev/flix // Repository: https://github.com/okalachev/flix
// Motors output control using MOSFETs // Motors output control using MOSFETs
// In case of using ESCs, change PWM_MIN and PWM_MAX definitions to appropriate values in μs // In case of using ESCs, change PWM_STOP, PWM_MIN and PWM_MAX to appropriate values in μs, decrease PWM_FREQUENCY (to 400)
#include "util.h" #include "util.h"
@ -13,6 +13,7 @@
#define PWM_FREQUENCY 500 #define PWM_FREQUENCY 500
#define PWM_RESOLUTION 12 #define PWM_RESOLUTION 12
#define PWM_STOP 0
#define PWM_MIN 0 #define PWM_MIN 0
#define PWM_MAX 1000000 / PWM_FREQUENCY #define PWM_MAX 1000000 / PWM_FREQUENCY
@ -38,6 +39,7 @@ void setupMotors() {
int getDutyCycle(float value) { int getDutyCycle(float value) {
value = constrain(value, 0, 1); value = constrain(value, 0, 1);
float pwm = mapff(value, 0, 1, PWM_MIN, PWM_MAX); float pwm = mapff(value, 0, 1, PWM_MIN, PWM_MAX);
if (value == 0) pwm = PWM_STOP;
float duty = mapff(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1); float duty = mapff(pwm, 0, 1000000 / PWM_FREQUENCY, 0, (1 << PWM_RESOLUTION) - 1);
return round(duty); return round(duty);
} }