6ccbc7faf5
- Implement MotorController class with PWM speed control (0-100%) - Add bidirectional control (forward/reverse) via LEDC PWM at 20kHz - Include optional current sensing and stall detection - Create responsive web UI with speed slider and direction buttons - Configure WiFi with static IP (10.81.2.185) - Use built-in WebServer library for ESP32 Arduino 3.x compatibility
9 lines
341 B
Markdown
9 lines
341 B
Markdown
# Code Mode Rules
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## ESP32/PlatformIO Specifics
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- Use `LEDC` peripheral for PWM on ESP32 (not analogWrite)
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- BTS7960 PWM frequency: 1-25kHz optimal, 20kHz recommended to reduce motor noise
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- Enable pins (R_EN, L_EN) must be HIGH before PWM signals work
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- Current sense pins (R_IS, L_IS) output analog voltage proportional to motor current
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