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change io motor pins

try-fix-comms-errors
Alex Mikhalev 6 years ago
parent
7835c7987a
commit
3fc065d212
1 changed files with 3 additions and 1 deletions
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  1. 4
      main/ugv_io.cc

4
main/ugv_io.cc
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@ -29,7 +29,7 @@ static constexpr mcpwm_unit_t MCPWM_UNIT = MCPWM_UNIT_0; @@ -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_DIR = GPIO_NUM_2;
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;
@ -46,8 +46,10 @@ void IOClass::Init() { @@ -46,8 +46,10 @@ void IOClass::Init() {
void IOClass::InitMotors() {
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_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_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, MCPWM1A, MOTOR_RIGHT_PWM));

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