aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2025-07-27 17:49:33 +00:00
Code Issues Packages Projects Releases Wiki Activity

Simplify motors duty cycle computation

Browse Source
This commit is contained in:
Oleg Kalachev 2024-12-25 02:13:33 +03:00
parent 2efae82177
commit ca355e0162
1 changed files with 8 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
flix/motors.ino
View File

@ -26,14 +26,15 @@ void setupMotors() {
Serial.println("Motors initialized"); Serial.println("Motors initialized");
} }
uint8_t signalToDutyCycle(float signal) { uint8_t getDutyCycle(float value) { // TODO: for canonical
float duty = mapff(signal, 0, 1, 0, (1 << PWM_RESOLUTION) - 1); value = constrain(value, 0, 1);
return round(constrain(duty, 0, (1 << PWM_RESOLUTION) - 1)); float duty = mapff(value, 0, 1, 0, (1 << PWM_RESOLUTION) - 1);
return round(duty);
} }
void sendMotors() { void sendMotors() {
ledcWrite(MOTOR_0_PIN, signalToDutyCycle(motors[0])); ledcWrite(MOTOR_0_PIN, getDutyCycle(motors[0]));
ledcWrite(MOTOR_1_PIN, signalToDutyCycle(motors[1])); ledcWrite(MOTOR_1_PIN, getDutyCycle(motors[1]));
ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2])); ledcWrite(MOTOR_2_PIN, getDutyCycle(motors[2]));
ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3])); ledcWrite(MOTOR_3_PIN, getDutyCycle(motors[3]));
} }