drake/dmx-motor-controller
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fixes

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This commit is contained in:
Drake Marino 2024-10-11 21:49:52 -05:00
parent b952e9fe1e
commit bae69f19c4
1 changed files with 17 additions and 19 deletions
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36
src/main.cpp
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@ -56,6 +56,9 @@ void setup() {
void loop() { void loop() {
// Calculate how long no data bucket was received // Calculate how long no data bucket was received
if (DMXSerial.noDataSince() < 5000) { if (DMXSerial.noDataSince() < 5000) {
if (DMXSerial.read(DMX_CHANNEL + 7) > 0) {
pidPwm = DMXSerial.read(DMX_CHANNEL + 7);
} else {
// read recent DMX values and set pwm levels // read recent DMX values and set pwm levels
// pidGain = 0.0001 + (0.002 * (DMXSerial.read(DMX_CHANNEL + 1) / 255)); // pidGain = 0.0001 + (0.002 * (DMXSerial.read(DMX_CHANNEL + 1) / 255));
@ -75,27 +78,22 @@ void loop() {
// if (pidPwm > 255) pidPwm = 255; // if (pidPwm > 255) pidPwm = 255;
// if (pidPwm < -255) pidPwm = -255; // if (pidPwm < -255) pidPwm = -255;
if (abs(pidPwm > 150)) {
digitalWrite(R_EN_PIN, 1);
digitalWrite(L_EN_PIN, 1);
if (pidPwm > 0) {
analogWrite(RPWM_PIN, 0);
analogWrite(LPWM_PIN, pidPwm);
analogWrite(5, 0);
analogWrite(6, pidPwm);
} else {
analogWrite(LPWM_PIN, 0);
analogWrite(RPWM_PIN, -pidPwm);
analogWrite(6, 0);
analogWrite(5, -pidPwm);
}
} else {
digitalWrite(R_EN_PIN, 0);
digitalWrite(L_EN_PIN, 0);
} }
if (pidPwm > 0) {
analogWrite(RPWM_PIN, 0);
analogWrite(LPWM_PIN, pidPwm);
analogWrite(5, 0);
analogWrite(6, pidPwm);
} else {
analogWrite(LPWM_PIN, 0);
analogWrite(RPWM_PIN, -pidPwm);
analogWrite(6, 0);
analogWrite(5, -pidPwm);
}
} else { } else {
digitalWrite(R_EN_PIN, 0); digitalWrite(R_EN_PIN, 0);
digitalWrite(L_EN_PIN, 0); digitalWrite(L_EN_PIN, 0);