59 lines
1.5 KiB
C++
59 lines
1.5 KiB
C++
#define ENVELOPE 0xAA
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#define MOTOR1_PWM_PIN 16
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#define MOTOR2_PWM_PIN 17
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#define PWM_CHANNEL_1 0
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#define PWM_CHANNEL_2 1
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#define PWM_FREQ 1000
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#define PWM_RESOLUTION 8 // 8 bits: 0-255
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unsigned long lastReceiveTime = 0;
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uint8_t prevMotor1 = 0, prevMotor2 = 0;
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void setup() {
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Serial.begin(115200);
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ledcSetup(PWM_CHANNEL_1, PWM_FREQ, PWM_RESOLUTION);
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ledcSetup(PWM_CHANNEL_2, PWM_FREQ, PWM_RESOLUTION);
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ledcAttachPin(MOTOR1_PWM_PIN, PWM_CHANNEL_1);
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ledcAttachPin(MOTOR2_PWM_PIN, PWM_CHANNEL_2);
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}
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void loop() {
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static enum { WAIT_HEADER, WAIT_M1, WAIT_M2 } state = WAIT_HEADER;
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static uint8_t m1_val, m2_val;
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while (Serial.available()) {
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uint8_t b = Serial.read();
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if (state == WAIT_HEADER) {
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if (b == ENVELOPE) state = WAIT_M1;
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} else if (state == WAIT_M1) {
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m1_val = b;
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state = WAIT_M2;
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} else if (state == WAIT_M2) {
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m2_val = b;
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// Only update if changed
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if (m1_val != prevMotor1) {
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ledcWrite(PWM_CHANNEL_1, m1_val);
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prevMotor1 = m1_val;
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}
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if (m2_val != prevMotor2) {
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ledcWrite(PWM_CHANNEL_2, m2_val);
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prevMotor2 = m2_val;
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}
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lastReceiveTime = millis();
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state = WAIT_HEADER;
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}
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}
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// Motor safety: Stop if no update in 200 ms
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if (millis() - lastReceiveTime > 200) {
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if (prevMotor1 != 0) {
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ledcWrite(PWM_CHANNEL_1, 0);
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prevMotor1 = 0;
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}
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if (prevMotor2 != 0) {
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ledcWrite(PWM_CHANNEL_2, 0);
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prevMotor2 = 0;
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}
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}
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}
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