ESP32-motor-test

//ピンアサイン
//#define EN 19
#define LPWM 22
#define RPWM 23
int PWMMAX = 1023;

void setup() {
  //PWMタイマ設定
  ledcSetup(0, 20000, 10); //ch0,20kHz,10bit
  ledcSetup(1, 20000, 10); //ch1,20kHz,10bit

  //PWMタイマに出力PIN関連付け
  ledcAttachPin(LPWM, 0);
  ledcAttachPin(RPWM, 1);

  //ENピン初期化
  //pinMode(EN, OUTPUT);

  //Serial初期化
  Serial.begin(115200);
}

void loop() {
  if (Serial.available() > 0) { // check serial
    char in = Serial.read();
    if (in == 'k') {
      //digitalWrite(EN, LOW);
      ledcWrite(0, 0);
      ledcWrite(1, 0);
      Serial.println("Stop Motor");
    } else if (in == 'p') {
      int input = Serial.parseInt();
      Serial.println(input);
      Serial.println("PWM control");
      setMotor(input);
    } else if (in == 'f') {
      int input = Serial.parseInt();
      Serial.println(input);
      Serial.println("freqency");
      ledcSetup(0, input, 10); //ch0,20kHz,10bit
      ledcSetup(1, input, 10); //ch1,20kHz,10bit
    } else if (in == 'h') {
      PWMMAX = 1023;
      Serial.println("Slow-Decay");
    } else if (in == 'l') {
      PWMMAX = 0;
      Serial.println("Fast-Decay");
    }
  }
}

void setMotor(int pwm) {
  if (pwm == 0) { //ブレーキ
    //digitalWrite(EN, HIGH);
    ledcWrite(0, 1023);
    ledcWrite(1, 1023);
  } else if (pwm > 0 && pwm <= 1023) {
    //digitalWrite(EN, HIGH);
    ledcWrite(0, abs(PWMMAX - pwm));
    ledcWrite(1, PWMMAX);
  } else if (pwm < 0 && pwm >= -1023) {
    //digitalWrite(EN, HIGH);
    ledcWrite(0, PWMMAX);
    ledcWrite(1, abs(pwm + PWMMAX));
  }
}