unfinished docs

docs/final_project/final_project.md

@@ -168,11 +168,92 @@ ESPC3 --> ESPC6 Thread 1 : Send data to flight controller using ESPNOW
 ```
 
 I've already gotten the motors to spin in [week 10](../Assignments/week_10_output_devices/output_devices.md) using the script in there. Now I also need to modify the original VTOL driver so my ESC's can properly understand it's instructions.
-//TODO: Continue this
 
+There's one specific function I need to change.
+??? Old code
+    ```cpp
+    void commandMotors()
+    {
+    // DESCRIPTION: Send pulses to motor pins, oneshot125 protocol
+    /*
+    * My crude implimentation of OneShot125 protocol which sends 125 - 250us pulses to the ESCs (mXPin). The pulselengths being
+    * sent are mX_command_PWM, computed in scaleCommands(). This may be replaced by something more efficient in the future.
+    */
+    int wentLow = 0;
+    int pulseStart, timer;
+    int flagM1 = 0;
+    int flagM2 = 0;
+    int flagM3 = 0;
+    int flagM4 = 0;
+    int flagM5 = 0;
+    int flagM6 = 0;
 
-https://grabcad.com/library/readytosky-rs2205-1
+    // Write all motor pins high
+    digitalWrite(m1Pin, HIGH);
+    digitalWrite(m2Pin, HIGH);
+    digitalWrite(m3Pin, HIGH);
+    digitalWrite(m4Pin, HIGH);
+    digitalWrite(m5Pin, HIGH);
+    digitalWrite(m6Pin, HIGH);
+    pulseStart = micros();
 
+    // Write each motor pin low as correct pulse length is reached
+    while (wentLow < 6)
+    { // Keep going until final (6th) pulse is finished, then done
+        timer = micros();
+        if ((m1_command_PWM <= timer - pulseStart) && (flagM1 == 0))
+        {
+        digitalWrite(m1Pin, LOW);
+        wentLow = wentLow + 1;
+        flagM1 = 1;
+        }
+        if ((m2_command_PWM <= timer - pulseStart) && (flagM2 == 0))
+        {
+        digitalWrite(m2Pin, LOW);
+        wentLow = wentLow + 1;
+        flagM2 = 1;
+        }
+        if ((m3_command_PWM <= timer - pulseStart) && (flagM3 == 0))
+        {
+        digitalWrite(m3Pin, LOW);
+        wentLow = wentLow + 1;
+        flagM3 = 1;
+        }
+        if ((m4_command_PWM <= timer - pulseStart) && (flagM4 == 0))
+        {
+        digitalWrite(m4Pin, LOW);
+        wentLow = wentLow + 1;
+        flagM4 = 1;
+        }
+        if ((m5_command_PWM <= timer - pulseStart) && (flagM5 == 0))
+        {
+        digitalWrite(m5Pin, LOW);
+        wentLow = wentLow + 1;
+        flagM5 = 1;
+        }
+        if ((m6_command_PWM <= timer - pulseStart) && (flagM6 == 0))
+        {
+        digitalWrite(m6Pin, LOW);
+        wentLow = wentLow + 1;
+        flagM6 = 1;
+        }
+    }
+    }
+    ```
+What this function does is generate PWM values in software which is super inefficient. The esp32C6 according to it's datasheet supports 6 seperate PWM clocks in hardware.
+![alt text](image-24.png)
+So I wanna use these to reduce the overhead and so the loop doesn't have to run 20 times a second but faster making the drone respond faster. To use these I need to use this library.
+Right link: [https://docs.espressif.com/projects/arduino-esp32/en/latest/api/ledc.html](https://docs.espressif.com/projects/arduino-esp32/en/latest/api/ledc.html)
+
+When first looking at the documentation I got super confused why nothing was working but that was because I was looking at the documentation for the wrong framework. I was looking at the ESP-IDF framework instead of the Arduino framework.
+Wrong link: [https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/peripherals/ledc.html](https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/peripherals/ledc.html)
+
+So I really needed 2 functions of the library.
+* To set pwm channel, pin and resolution (ledcAttach)
+* To set the PWM frequency (ledcWrite)
+
+![alt text](image-25.png)
+![alt text](image-26.png)
 
 ## Generative design
 Online I saw a lot of organic designs that where created by generative design.
@@ -249,3 +330,4 @@ Once it starts generating this will pop up. These are the finished results. The
 ## Files
 
 * [Handheld controller pcb](Drone%20controller.zip)
+* [Drone motor 3D file](https://grabcad.com/library/readytosky-rs2205-1)