Microzod

#include <inttypes.h>
#include <stdio.h>
#include "nvs_flash.h"
#include "nvs.h"
#include "nvs_handle.hpp"
#include "esp_system.h"
#include <encoderEncoderPCNT.h>
#include <Bounce2.h>
#include <ESP32_L298N.h>
#include <MCPWM_DUAL_PWM.h>

Microzod

#include <cmath>
#include <cstdio>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "driver/mcpwm_prelude.h"
#include "driver/pulse_cnt.h"

// ─── pin definitions ───────────────────────────────────────────────────────────
static constexpr gpio_num_t IN1_PIN = GPIO_NUM_5;

Microzod

#include <encoderEncoderPCNT.h>
#include <Bounce2.h>
#include <MCPWM_DUAL_PWM.h>
#include <cmath>  // for roundf()

extern "C"
{
    #include "driver/mcpwm_prelude.h"
}

Microzod

#include <PulseCounter.h>
#include <RotaryEncoderPCNT.h>
#include <Bounce2.h>
#include <MCPWM_PWM_ENCODER.h>

extern "C"
{
    #include "driver/mcpwm_prelude.h"
}

Microzod

#include <PulseCounter.h>
#include <RotaryEncoderPCNT.h>
#include <Bounce2.h>
#include <MCPWM_PWM_ENCODER.h>

extern "C"
{
    #include "driver/mcpwm_prelude.h"
}

Microzod

#include <Arduino.h>
extern "C"
{
    #include "driver/mcpwm_prelude.h"
}

enum Motor     { MOTOR_A = 0, MOTOR_B = 1 };
enum Direction { STOP    = 0, FORWARD = 1, BACKWARD = 2 };

// ===== L298 Control Pins =====

Microzod

//  ESP32‑S3 Dual‑Channel MCPWM (new prelude API) to control a L298 Motor Driver with encoders.
//  – 20 kHz PWM (500 µs period)
//  – 10‑bit integer resolution for duty [0…RESOLUTION]


#include <Arduino.h>
extern "C" {
  #include "driver/mcpwm_prelude.h"
}

Microzod

#include <RotaryEncoderPCNT.h>
#include <Bounce2.h>
#include <MCPWM_PWM_ENCODER.h>

extern "C"
{
    #include "driver/mcpwm_prelude.h"
}

enum Motor     { MOTOR_A = 0, MOTOR_B = 1 };