Motor pulse contorller

main.cpp

#include <Arduino.h>

constexpr int Pin_R_Enable = 14; // TODO
constexpr int Pin_L_Enable = 15; // TODO
constexpr int Pin_R_PWM = 16; // TODO
constexpr int Pin_L_PWM = 17; // TODO

constexpr int LEDC_CHANNEL_LEFT = LEDC_CHANNEL_0;
constexpr int LEDC_CHANNEL_RIGHT = LEDC_CHANNEL_1;

void SetDirection(bool left) {
    if(left) {
        digitalWrite(Pin_L_Enable, HIGH);
        digitalWrite(Pin_R_Enable, LOW);
    } else {
        digitalWrite(Pin_L_Enable, LOW);
        digitalWrite(Pin_R_Enable, HIGH);
    }
}

void SetSpeed(bool left, uint16_t value=4096) {
    if(left) {
        ledcWrite(LEDC_CHANNEL_LEFT, value);
    } else {
        ledcWrite(LEDC_CHANNEL_RIGHT, value);
    }
}

void setup() {
    Serial.begin(115200);
    pinMode(Pin_R_Enable, OUTPUT);
    digitalWrite(Pin_R_Enable, LOW);
    pinMode(Pin_L_Enable, OUTPUT);
    digitalWrite(Pin_L_Enable, LOW);
    pinMode(Pin_R_PWM, OUTPUT);
    pinMode(Pin_L_PWM, OUTPUT);

    // L PWM
    ledcSetup(LEDC_CHANNEL_LEFT, 10000 /* Hz */, 12);
    ledcAttachPin(GPIO_NUM_16 /* TODO*/, LEDC_CHANNEL_LEFT);
    ledcWrite(LEDC_CHANNEL_LEFT, 2048); // 50%

    // R PWM
    ledcSetup(LEDC_CHANNEL_RIGHT, 10000 /* Hz */, 12);
    ledcAttachPin(GPIO_NUM_17 /* TODO */, LEDC_CHANNEL_RIGHT);
    ledcWrite(LEDC_CHANNEL_RIGHT, 2048); // 50%
}

void loop() {
    // Left 
    SetDirection(/*left=*/true);
    SetSpeed(/*left=*/true, /*value=*/2048);
    delayMicroseconds(2000); // millisekunden left

    // Right
    SetDirection(/*left=*/false);
    SetSpeed(/*left=*/false, /*value=*/2048);
    delayMicroseconds(2000); // millisekunden left
}