Motor drive constant adjustments

src/motor-esp32/adc_read.cpp

@@ -9,7 +9,9 @@
 #include "esp_adc_cal.h"
 
 #define SYS_VOLTS_PER_ADC_MV ((((2.2+10.0)/2.2)/1000.0)*1.042)
-#define MOTOR_AMPS_PER_ADC_MV ((2.5/1000.0)*1.042)
+#define MOTOR_AMPS_PER_ADC_MV ((8.5/1000.0)*1.042)
+//Roller 3 has a motor driver with the BTS7960B (R9 R3 R8 R2 are all 3K), rather than the BTN7971B (all 1K)
+#define MOTOR_AMPS_PER_ADC_MV_R3 ((8.5/1000.0)*1.042)
 
 #define ADC_TASK_STACK_SIZE 2048
 
@@ -47,7 +49,7 @@ static void motor_control_task(void *pvParameters) {
         xQueueOverwrite(motor_current_queue[1], &result);
 
         adc_raw = adc1_get_raw(ADC_ROLLER3_IS);
-        result = esp_adc_cal_raw_to_voltage(adc_raw, &adc1_11db_chars) * MOTOR_AMPS_PER_ADC_MV;
+        result = esp_adc_cal_raw_to_voltage(adc_raw, &adc1_11db_chars) * MOTOR_AMPS_PER_ADC_MV_R3;
         xQueueOverwrite(motor_current_queue[2], &result);
 
         adc_raw = adc1_get_raw(ADC_SYS_VOLTAGE);

src/motor-esp32/motor_control.h

@@ -10,7 +10,7 @@
 #define MAX_DUTY_RAMP 10.0 // max change in duty per second - where 1.0 is full duty
 
 #define MIN_DUTY 0.10 // min duty for each motor
-#define MAX_DUTY 0.99 // max duty for each motor - Needs to be below 0.33 to avoid overlapping the three motor phases
+#define MAX_DUTY 0.55 // max duty for each motor - Needs to be below 0.33 to avoid overlapping the three motor phases
 
 #define DEFAULT_KP        0.0
 #define DEFAULT_KI        5.0