amikhalev/uas-ugv
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change io motor pins

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This commit is contained in:
Alex Mikhalev 2019-01-24 18:58:59 -08:00
parent 7835c7987a
commit 3fc065d212
1 changed files with 3 additions and 1 deletions
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4
main/ugv_io.cc
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@ -29,7 +29,7 @@ static constexpr mcpwm_unit_t MCPWM_UNIT = MCPWM_UNIT_0;
static constexpr gpio_num_t MOTOR_LEFT_PWM = GPIO_NUM_0; static constexpr gpio_num_t MOTOR_LEFT_PWM = GPIO_NUM_0;
static constexpr gpio_num_t MOTOR_LEFT_DIR = GPIO_NUM_2; static constexpr gpio_num_t MOTOR_LEFT_DIR = GPIO_NUM_2;
static constexpr gpio_num_t MOTOR_RIGHT_PWM = GPIO_NUM_12; static constexpr gpio_num_t MOTOR_RIGHT_PWM = GPIO_NUM_12;
static constexpr gpio_num_t MOTOR_RIGHT_DIR = GPIO_NUM_14; static constexpr gpio_num_t MOTOR_RIGHT_DIR = GPIO_NUM_16;
IOClass IO; IOClass IO;
@ -46,8 +46,10 @@ void IOClass::Init() {
void IOClass::InitMotors() { void IOClass::InitMotors() {
ERROR_CHECK(gpio_set_direction(MOTOR_LEFT_PWM, GPIO_MODE_OUTPUT)); ERROR_CHECK(gpio_set_direction(MOTOR_LEFT_PWM, GPIO_MODE_OUTPUT));
ERROR_CHECK(gpio_set_direction(MOTOR_LEFT_DIR, GPIO_MODE_OUTPUT)); ERROR_CHECK(gpio_set_direction(MOTOR_LEFT_DIR, GPIO_MODE_OUTPUT));
ERROR_CHECK(gpio_set_pull_mode(MOTOR_LEFT_DIR, GPIO_FLOATING));
ERROR_CHECK(gpio_set_direction(MOTOR_RIGHT_PWM, GPIO_MODE_OUTPUT)); ERROR_CHECK(gpio_set_direction(MOTOR_RIGHT_PWM, GPIO_MODE_OUTPUT));
ERROR_CHECK(gpio_set_direction(MOTOR_RIGHT_DIR, GPIO_MODE_OUTPUT)); ERROR_CHECK(gpio_set_direction(MOTOR_RIGHT_DIR, GPIO_MODE_OUTPUT));
ERROR_CHECK(gpio_set_pull_mode(MOTOR_RIGHT_DIR, GPIO_FLOATING));
ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM0A, MOTOR_LEFT_PWM)); ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM0A, MOTOR_LEFT_PWM));
ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM)); ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM));