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Originally Posted by AlphaOmega870
How would I go about changing the default program from single joy stick control to two joy stick control?  |
In 1-joystick drive the code mixes the x/y on the one joystick. For 2-joystick drive you just use the y axis on each of 2 joysticks.
Change the following lines in user_routines.c at the top of Default_Routine to get rid of the mixed result and just use the PWM inputs directly.
Original code (get rid of the mixing):
pwm01 = pwm03 = Limit_Mix(2000 + PWM_in1 + PWM_in2 - 127); /* LEFT WHEELS */
pwm02 = pwm04 = Limit_Mix(2000 + PWM_in2 - PWM_in1 + 127); /* RIGHT WHEELS */
pwm01 = pwm03 = 255 - pwm01; /* reverse direction of left side */
New code (just :
pwm01 = pwm03 = 255 - PWM_in2; /* LEFT WHEELS - reverse direction of left side */
pwm02 = pwm04 = PWM_in4; /* RIGHT WHEELS */