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Simplify motors duty cycle computation

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