From f3d04a368d451d3b5ba998160824762b38cb18f4 Mon Sep 17 00:00:00 2001
From: Sam Hos <samhos2006@hotmail.com>
Date: Mon, 27 Jan 2025 17:19:19 +0100
Subject: [PATCH] first steps for drone firmware

---
 src/drone/conf.h    |  9 +++++++++
 src/drone/drone.ino | 18 ++++++++++++++++--
 2 files changed, 25 insertions(+), 2 deletions(-)
 create mode 100644 src/drone/conf.h

diff --git a/src/drone/conf.h b/src/drone/conf.h
new file mode 100644
index 0000000..f1c30fc
--- /dev/null
+++ b/src/drone/conf.h
@@ -0,0 +1,9 @@
+#define MOTOR1 D0
+#define MOTOR2 D1
+#define MOTOR3 D2
+#define MOTOR4 D3
+#define PWMFREQ 50 //every 20ms
+#define PWMRESOLUTION 16 
+#define BNOINTERRUPTSIG D6 
+#define BNOI2CADRESS 0x4b
+//https://docs.arduino.cc/language-reference/en/structure/further-syntax/define/
\ No newline at end of file
diff --git a/src/drone/drone.ino b/src/drone/drone.ino
index 88690e7..dbde5c9 100644
--- a/src/drone/drone.ino
+++ b/src/drone/drone.ino
@@ -1,4 +1,4 @@
-#include <FastLED.h>
+#include "conf.h"
 #include <Adafruit_BNO08x.h>
 #include <sh2.h>
 #include <sh2_SensorValue.h>
@@ -8,7 +8,11 @@
 #include <shtp.h>
 
 void setup() {
-  // put your setup code here, to run once:
+  // Setup all ESC
+ledcAttach(MOTOR1, PWMFREQ, PWMRESOLUTION);
+ledcAttach(MOTOR2, PWMFREQ, PWMRESOLUTION);
+ledcAttach(MOTOR3, PWMFREQ, PWMRESOLUTION);
+ledcAttach(MOTOR4, PWMFREQ, PWMRESOLUTION);
 
 }
 
@@ -16,3 +20,13 @@ void loop() {
   // put your main code here, to run repeatedly:
 
 }
+
+
+void calibrateESC() {
+ledcWrite(MOTOR1, 1100);
+ledcWrite(MOTOR2, 1100);
+ledcWrite(MOTOR3, 1100);
+ledcWrite(MOTOR4, 1100);
+}
+
+//https://randomnerdtutorials.com/esp32-pwm-arduino-ide/
\ No newline at end of file