pp

firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.cpp

@@ -7,20 +7,16 @@
 
 OpenTB6612FNG::OpenTB6612FNG(int TP) {
 
-	pinMode(PWMA, OUTPUT);
 	pinMode(AIN1, OUTPUT);
 	pinMode(AIN2, OUTPUT);
-	pinMode(STBY, OUTPUT);
+	pinMode(PWMA, OUTPUT);
 	pinMode(BIN1, OUTPUT);
 	pinMode(BIN2, OUTPUT);
 	pinMode(PWMB, OUTPUT);
-   ledcSetup(ledChannel, freq, resolution);
-   ledcSetup(ledChannel2, freq, resolution);
-  
-  // attach the channel to the GPIO to be controlled
-  ledcAttachPin(PWMA, ledChannel);
-  ledcAttachPin(PWMB, ledChannel2);
-  
+	analogWriteFreq(20000);
+	analogWriteRange(255);
+
+	
 }
 
 void OpenTB6612FNG::MotorIz(int value) {
@@ -39,7 +35,7 @@ void OpenTB6612FNG::MotorIz(int value) {
  */
 	// Setea Velocidad
 
-	ledcWrite(ledChannel, value);
+	analogWrite(MOTOR_IZQ, value);
 }
 
 void OpenTB6612FNG::MotorDe(int value) {
@@ -58,15 +54,12 @@ void OpenTB6612FNG::MotorDe(int value) {
  */
 	// Setea Velocidad
 
-	ledcWrite(ledChannel2, value);
+	analogWrite(MOTOR_DER, value);
 }
 
 void OpenTB6612FNG::Motores(int left, int righ) {
 	MotorIz(left);
 	MotorDe(righ);
-	digitalWrite(STBY, LOW);
-
-
 }
 
 void OpenTB6612FNG::Forward()

firmwareCarroEsp32/src/OpenTB6612FNG/OpenTB6612FNG.h

@@ -1,18 +1,14 @@
 #ifndef OpenTB6612FNG_h
 #define OpenTB6612FNG_h
-#include <Arduino.h>
-#define PWMA 36
-#define AIN1 39
-#define AIN2 34
-#define STBY 35
-#define BIN1 32
-#define BIN2 33
-#define PWMB 25
-
-const int freq = 5000;
-const int ledChannel = 0;
-const int ledChannel2 = 1;
-const int resolution = 8;
+#include "Arduino.h"
+#define PWMA D1
+#define AIN1 D2
+#define AIN2 D3
+#define BIN1 D4
+#define BIN2 D5
+#define PWMB D6
+#define MOTOR_IZQ PWMB
+#define MOTOR_DER PWMA
 
 
 class OpenTB6612FNG{