Motors fixed

Remade - ledcWrite to pin, not channel

Author: kubascikmichal

RoboHeart.cpp

@@ -11,15 +11,7 @@
     "ROBOHEART"  // Define identifier before including DebuggerMsgs.h
 #include "DebuggerMsgs.h"
 
-// arduino-esp32 starts assigning channel from the top (channel 7)
-// lower the chances of collision by starting from the bottom
-// TODO: Remove on the new arduino-esp32 release
-#define MOTOR_A_CHANNEL1 0
-#define MOTOR_A_CHANNEL2 1
-#define MOTOR_B_CHANNEL1 2
-#define MOTOR_B_CHANNEL2 3
-#define MOTOR_C_CHANNEL1 4
-#define MOTOR_C_CHANNEL2 5
+
 
 LSM6DS3 RoboHeart::imu;
 float RoboHeart::_rotationX;

RoboHeart.h

@@ -20,6 +20,13 @@
 #include <math.h>
 #define TRESHOLD 0.1  //treshold in degrees/s
 
+#define MOTOR_A_CHANNEL1 0
+#define MOTOR_A_CHANNEL2 1
+#define MOTOR_B_CHANNEL1 2
+#define MOTOR_B_CHANNEL2 3
+#define MOTOR_C_CHANNEL1 4
+#define MOTOR_C_CHANNEL2 5
+
 #define LSM6DS3_I2C_ADDR 0x6B // or 0x6A - Address is defined in Library
 
 typedef struct {

RoboHeartDRV8836.cpp

@@ -63,37 +63,37 @@ void RoboHeartDRV8836::configPWM(int freq, int resolution) {
 void RoboHeartDRV8836::sleep(bool sleep) {
     RETURN_WARN_IF_EQUAL(_in1Pin, -1)
 
-    ledcWrite(_in1Channel, 0);
-    ledcWrite(_in2Channel, 0);
+    ledcWrite(_in1Pin, 0);
+    ledcWrite(_in2Pin, 0);
     digitalWrite(_nSleepPin, !sleep);
 }
 
 void RoboHeartDRV8836::coast() {
     RETURN_WARN_IF_EQUAL(_in1Pin, -1)
 
-    ledcWrite(_in1Channel, 0);
-    ledcWrite(_in2Channel, 0);
+    ledcWrite(_in1Pin, 0);
+    ledcWrite(_in2Pin, 0);
 }
 
 void RoboHeartDRV8836::forward(int speed) {
     RETURN_WARN_IF_EQUAL(_in1Pin, -1)
     _speed = clampSpeed(speed, 0, _pwmMaxDutyCycle);
-    ledcWrite(_in1Channel, _speed);
-    ledcWrite(_in2Channel, 0);
+    ledcWrite(_in1Pin, _speed);
+    ledcWrite(_in2Pin, 0);
 }
 
 void RoboHeartDRV8836::reverse(int speed) {
     RETURN_WARN_IF_EQUAL(_in1Pin, -1)
     _speed = clampSpeed(speed, 0, _pwmMaxDutyCycle);
-    ledcWrite(_in1Channel, 0);
-    ledcWrite(_in2Channel, _speed);
+    ledcWrite(_in1Pin, 0);
+    ledcWrite(_in2Pin, _speed);
 }
 
 void RoboHeartDRV8836::brake() {
     RETURN_WARN_IF_EQUAL(_in1Pin, -1)
 
-    ledcWrite(_in1Channel, _pwmMaxDutyCycle);
-    ledcWrite(_in2Channel, _pwmMaxDutyCycle);
+    ledcWrite(_in1Pin, _pwmMaxDutyCycle);
+    ledcWrite(_in2Pin, _pwmMaxDutyCycle);
 }
 
 int RoboHeartDRV8836::getSpeed() { return _speed; }

RoboHeartDRV8836.h

@@ -37,7 +37,7 @@ class RoboHeartDRV8836 {
     int _pwmResolution = -1;
     int _pwmMaxDutyCycle = 256;
 
-    int _in1Channel = 0;  // TODO: Remove on the new arduino-esp32 release
+    int _in1Channel = 0; 
     int _in2Channel = 1;
 };