From 8d284d563d70aedbc12b90b4aa976c19dc86fd5b Mon Sep 17 00:00:00 2001
From: Thomas Lambert <t.lambert@uliege.be>
Date: Tue, 29 Nov 2022 09:35:41 +0100
Subject: [PATCH] fix(esc): add offset between two ESC
---
controller/controller.ino | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/controller/controller.ino b/controller/controller.ino
index 2526df3..83808ba 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -75,6 +75,7 @@ const uint16_t gMAX_RPM = 3000; // Motor maximum RPM (set in ESC)
const uint16_t gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
const uint8_t gMAX_ESC_VAL = 160; // Value at which motor is at max RPM
const uint8_t gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-error)
+const uint8_t gESC_OFFSET = 4; // Offset to add to ESC 2 to sync them
const uint8_t gCSN_PINS[] = CSN_PINS; // Encoder Chip Select pins
const int8_t gENC_ORIENT[] = ENC_ORIENT; // Encoder orientation
@@ -172,7 +173,7 @@ void loop() {
// Write value to ESCs
gEsc1.write(gEsc_val);
- gEsc2.write(gEsc_val);
+ gEsc2.write(gEsc_val + gESC_OFFSET);
// Read value from rotary encoders
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
--
GitLab