I (122) esp_image: segment 1: paddr=000330d4 vaddr=3fc96cESP-ROM:esp32s3-20210327 Build:Mar 27 2021 rst:0x15 (USB_UART_CHIP_RESET),boot:0x8 (SPI_FAST_FLASH_BOOT) Saved PC:0x403782f1 SPIWP:0xee mode:DIO, clock div:1 load:0x3fce3810,len:0x168c load:0x403c9700,len:0xbe0 load:0x403cc700,len:0x2cd0 entry 0x403c9908 I (24) boot: ESP-IDF v5.0.4-dirty 2nd stage bootloader I (25) boot: compile time 08:45:38 I (25) boot: Multicore bootloader I (27) boot: chip revision: v0.1 I (31) boot.esp32s3: Boot SPI Speed : 80MHz I (36) boot.esp32s3: SPI Mode : DIO I (40) boot.esp32s3: SPI Flash Size : 2MB I (45) boot: Enabling RNG early entropy source... I (51) boot: Partition Table: I (54) boot: ## Label Usage Type ST Offset Length I (61) boot: 0 nvs WiFi data 01 02 00009000 00006000 I (69) boot: 1 phy_init RF data 01 01 0000f000 00001000 I (76) boot: 2 factory factory app 00 00 00010000 00100000 I (84) boot: End of partition table I (88) esp_image: segment 0: paddr=00010020 vaddr=3c080020 size=230ach (143532) map I (122) esp_image: segment 1: paddr=000330d4 vaddr=3fc96c00 size=03ee0h ( 16096) load I (126) esp_image: segment 2: paddr=00036fbc vaddr=40374000 size=0905ch ( 36956) load I (136) esp_image: segment 3: paddr=00040020 vaddr=42000020 size=7fc8ch (523404) map I (231) esp_image: segment 4: paddr=000bfcb4 vaddr=4037d05c size=09af0h ( 39664) load I (240) esp_image: segment 5: paddr=000c97ac vaddr=600fe010 size=00004h ( 4) load I (248) boot: Loaded app from partition at offset 0x10000 I (248) boot: Disabling RNG early entropy source... I (249) cpu_start: Multicore app I (253) cpu_start: Pro cpu up. I (256) cpu_start: Starting app cpu, entry point is 0x40375394 I (0) cpu_start: App cpu up. I (272) cpu_start: Pro cpu start user code I (272) cpu_start: cpu freq: 160000000 Hz I (273) cpu_start: Application information: I (273) cpu_start: Project name: wheel I (273) cpu_start: App version: a8ab325-dirty I (273) cpu_start: Compile time: Jan 23 2024 17:03:58 I (273) cpu_start: ELF file SHA256: 067bca56311cf226... I (274) cpu_start: ESP-IDF: v5.0.4-dirty I (274) cpu_start: Min chip rev: v0.0 I (274) cpu_start: Max chip rev: v0.99  I (274) cpu_start: Chip rev: v0.1 I (274) heap_init: Initializing. RAM available for dynamic allocation: I (275) heap_init: At 3FCA4648 len 000450C8 (276 KiB): DRAM I (275) heap_init: At 3FCE9710 len 00005724 (21 KiB): STACK/DRAM I (275) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM I (276) heap_init: At 600FE014 len 00001FD4 (7 KiB): RTCRAM I (277) spi_flash: detected chip: gd I (277) spi_flash: flash io: dio W (277) spi_flash: Detected size(8192k) larger than the size in the binary image header(2048k). Using the size in the binary image header. I (279) sleep: Configure to isolate all GPIO pins in sleep state I (280) sleep: Enable automatic switching of GPIO sleep configuration I (280) app_start: Starting scheduler on CPU0 I (280) app_start: Starting scheduler on CPU1 I (280) main_task: Started on CPU0 I (290) main_task: Calling app_main() I (310) wifi station: ESP_WIFI_INIT_STA I (310) pp: pp rom version: e7ae62f I (310) net80211: net80211 rom version: e7ae62f I (320) wifi:wifi driver task: 3fcae658, prio:23, stack:6656, core=0 I (320) system_api: Base MAC address is not set I (320) system_api: read default base MAC address from EFUSE I (330) wifi:wifi firmware version: e2d0ad8 I (330) wifi:wifi certification version: v7.0 I (330) wifi:config NVS flash: enabled I (330) wifi:config nano formating: disabled I (330) wifi:Init data frame dynamic rx buffer num: 32 I (330) wifi:Init management frame dynamic rx buffer num: 32 I (330) wifi:Init management short buffer num: 32 I (330) wifi:Init dynamic tx buffer num: 32 I (330) wifi:Init static tx FG buffer num: 2 I (330) wifi:Init static rx buffer size: 1600 I (330) wifi:Init static rx buffer num: 10 I (330) wifi:Init dynamic rx buffer num: 32 I (330) wifi_init: rx ba win: 6 I (330) wifi_init: tcpip mbox: 32 I (330) wifi_init: udp mbox: 6 I (330) wifi_init: tcp mbox: 6 I (330) wifi_init: tcp tx win: 5744 I (330) wifi_init: tcp rx win: 5744 I (330) wifi_init: tcp mss: 1440 I (330) wifi_init: WiFi IRAM OP enabled I (330) wifi_init: WiFi RX IRAM OP enabled I (340) phy_init: phy_version 610,2bff4c8,Jul 27 2023,20:22:14 I (380) wifi:mode : sta (f4:12:fa:57:c4:a4) I (380) wifi:enable tsf I (380) modbus tcp: ModBusTCPSlave_init I (380) bdc_control: DC motor dir gpio init I (380) gpio: GPIO[1]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (380) gpio: GPIO[3]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (380) bdc_control: DC motor speed pwm init I (380) gpio: GPIO[2]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (380) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (380) bdc_control: Init pcnt driver to decode rotary signal I (380) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (390) wifi:new:<11,0>, old:<1,0>, ap:<255,255>, sta:<11,0>, prof:1 I (390) wifi:state: init -> auth (b0) I (380) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (390) gpio: GPIO[34]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (390) gpio: GPIO[35]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (390) wifi:state: auth -> assoc (0) I (390) bdc_control: Create PID control block I (390) bdc_control: Create a timer to do PID calculation periodically I (390) bdc_control: DC motor dir gpio init I (390) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (390) gpio: GPIO[9]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (390) bdc_control: DC motor speed pwm init I (390) wifi:state: assoc -> run (10) I (400) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (400) gpio: GPIO[10]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0  I (400) bdc_control: Init pcnt driver to decode rotary signal I (400) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (400) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (400) gpio: GPIO[33]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (400) gpio: GPIO[26]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0  I (400) bdc_control: Create PID control block I (400) bdc_control: Create a timer to do PID calculation periodically I (400) bdc_control: Enable motor I (400) bdc_control: Start motor loop I (400) Adc measure: adc_measure_init I (400) Adc measure: ADC1 Calibration Success I (400) Adc measure: ADC2 Calibration Success I (400) Adc measure: Create a timer to do ADC measure I (430) wifi:connected with CMCC-xRSZ, aid = 132, channel 11, BW20, bssid = 74:6f:88:5a:5f:88 I (430) wifi:security: WPA2-PSK, phy: bgn, rssi: -42 I (440) wifi:pm start, type: 1 I (440) wifi:set rx beacon pti, rx_bcn_pti: 0, bcn_timeout: 0, mt_pti: 25000, mt_time: 10000 I (440) wifi station: connected to ap SSID:CMCC-xRSZ password:dughk9gm I (440) wifi:idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:0, winSize:64 I (440) wifi:idx:1 (ifx:0, 74:6f:88:5a:5f:88), tid:1, ssn:0, winSize:64 I (450) PWM: angle: 90.000000, duty: 614.400000 I (450) PWM: angle: 90.000000, duty: 614.400000 I (470) wifi:AP's beacon interval = 102400 us, DTIM period = 1 I (500) PWM: angle: 90.000000, duty: 614.400000 I (500) PWM: angle: 90.000000, duty: 614.400000 I (500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (550) PWM: angle: 90.000000, duty: 614.400000 I (550) PWM: angle: 90.000000, duty: 614.400000 I (600) PWM: angle: 90.000000, duty: 614.400000 I (600) PWM: angle: 90.000000, duty: 614.400000 I (600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (650) PWM: angle: 90.000000, duty: 614.400000 I (650) PWM: angle: 90.000000, duty: 614.400000 I (700) PWM: angle: 90.000000, duty: 614.400000 I (700) PWM: angle: 90.000000, duty: 614.400000 I (700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (750) PWM: angle: 90.000000, duty: 614.400000 I (750) PWM: angle: 90.000000, duty: 614.400000 I (790) wifi:idx I (790) wifi:idx:0 (ifx:0, 74:6f:88:5a:5f:88), tid:0, ssn:3, winSize:64 I (800) PWM: angle: 90.000000, duty: 614.400000 I (800) PWM: angle: 90.000000, duty: 614.400000 I (800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (850) PWM: angle: 90.000000, duty: 614.400000 I (850) PWM: angle: 90.000000, duty: 614.400000 I (900) PWM: angle: 90.000000, duty: 614.400000 I (900) PWM: angle: 90.000000, duty: 614.400000 I (900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (950) PWM: angle: 90.000000, duty: 614.400000 I (950) PWM: angle: 90.000000, duty: 614.400000 I (1000) PWM: angle: 90.000000, duty: 614.400000 I (1000) PWM: angle: 90.000000, duty: 614.400000 I (1000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1050) PWM: angle: 90.000000, duty: 614.400000 I (1050) PWM: angle: 90.000000, duty: 614.400000 I (1100) PWM: angle: 90.000000, duty: 614.400000 I (1100) PWM: angle: 90.000000, duty: 614.400000 I (1100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1150) PWM: angle: 90.000000, duty: 614.400000 I (1150) PWM: angle: 90.000000, duty: 614.400000 I (1200) PWM: angle: 90.000000, duty: 614.400000 I (1200) PWM: angle: 90.000000, duty: 614.400000 I (1200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1250) PWM: angle: 90.000000, duty: 614.400000 I (1250) PWM: angle: 90.000000, duty: 614.400000 I (1300) PWM: angle: 90.000000, duty: 614.400000 I (1300) PWM: angle: 90.000000, duty: 614.400000 I (1300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1350) PWM: angle: 90.000000, duty: 614.400000 I (1350) PWM: angle: 90.000000, duty: 614.400000 I (1400) PWM: angle: 90.000000, duty: 614.400000 I (1400) PWM: angle: 90.000000, duty: 614.400000 I (1400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1440) esp_netif_handlers: sta ip: 192.168.1.156, mask: 255.255.255.0, gw: 192.168.1.1 I (1440) wifi station: got ip:192.168.1.156 I (1450) PWM: angle: 90.000000, duty: 614.400000 I (1450) PWM: angle: 90.000000, duty: 614.400000 I (1500) PWM: angle: 90.000000, duty: 614.400000 I (1500) PWM: angle: 90.000000, duty: 614.400000 I (1500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1550) PWM: angle: 90.000000, duty: 614.400000 I (1550) PWM: angle: 90.000000, duty: 614.400000 I (1600) PWM: angle: 90.000000, duty: 614.400000 I (1600) PWM: angle: 90.000000, duty: 614.400000 I (1600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1650) PWM: angle: 90.000000, duty: 614.400000 I (1650) PWM: angle: 90.000000, duty: 614.400000 I (1700) PWM: angle: 90.000000, duty: 614.400000 I (1700) PWM: angle: 90.000000, duty: 614.400000 I (1700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1750) PWM: angle: 90.000000, duty: 614.400000 I (1750) PWM: angle: 90.000000, duty: 614.400000 I (1800) PWM: angle: 90.000000, duty: 614.400000 I (1800) PWM: angle: 90.000000, duty: 614.400000 I (1800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1850) PWM: angle: 90.000000, duty: 614.400000 I (1850) PWM: angle: 90.000000, duty: 614.400000 I (1900) PWM: angle: 90.000000, duty: 614.400000 I (1900) PWM: angle: 90.000000, duty: 614.400000 I (1900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (1950) PWM: angle: 90.000000, duty: 614.400000 I (1950) PWM: angle: 90.000000, duty: 614.400000 I (2000) PWM: angle: 90.000000, duty: 614.400000 I (2000) PWM: angle: 90.000000, duty: 614.400000 I (2000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2050) PWM: angle: 90.000000, duty: 614.400000 I (2050) PWM: angle: 90.000000, duty: 614.400000 I (2100) PWM: angle: 90.000000, duty: 614.400000 I (2100) PWM: angle: 90.000000, duty: 614.400000 I (2100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2150) PWM: angle: 90.000000, duty: 614.400000 I (2150) PWM: angle: 90.000000, duty: 614.400000 I (2200) PWM: angle: 90.000000, duty: 614.400000 I (2200) PWM: angle: 90.000000, duty: 614.400000 I (2200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2250) PWM: angle: 90.000000, duty: 614.400000 I (2250) PWM: angle: 90.000000, duty: 614.400000 I (2300) PWM: angle: 90.000000, duty: 614.400000 I (2300) PWM: angle: 90.000000, duty: 614.400000 I (2300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2350) PWM: angle: 90.000000, duty: 614.400000 I (2350) PWM: angle: 90.000000, duty: 614.400000 I (2400) PWM: angle: 90.000000, duty: 614.400000 I (2400) PWM: angle: 90.000000, duty: 614.400000 I (2400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2450) PWM: angle: 90.000000, duty: 614.400000 I (2450) PWM: angle: 90.000000, duty: 614.400000 I (2500) PWM: angle: 90.000000, duty: 614.400000 I (2500) PWM: angle: 90.000000, duty: 614.400000 I (2500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2550) PWM: angle: 90.000000, duty: 614.400000 I (2550) PWM: angle: 90.000000, duty: 614.400000 I (2600) PWM: angle: 90.000000, duty: 614.400000 I (2600) PWM: angle: 90.000000, duty: 614.400000 I (2600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2650) PWM: angle: 90.000000, duty: 614.400000 I (2650) PWM: angle: 90.000000, duty: 614.400000 I (2700) PWM: angle: 90.000000, duty: 614.400000 I (2700) PWM: angle: 90.000000, duty: 614.400000 I (2700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2750) PWM: angle: 90.000000, duty: 614.400000 I (2750) PWM: angle: 90.000000, duty: 614.400000 I (2800) PWM: angle: 90.000000, duty: 614.400000 I (2800) PWM: angle: 90.000000, duty: 614.400000 I (2800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2850) PWM: angle: 90.000000, duty: 614.400000 I (2850) PWM: angle: 90.000000, duty: 614.400000 I (2900) PWM: angle: 90.000000, duty: 614.400000 I (2900) PWM: angle: 90.000000, duty: 614.400000 I (2900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (2950) PWM: angle: 90.000000, duty: 614.400000 I (2950) PWM: angle: 90.000000, duty: 614.400000 I (3000) PWM: angle: 90.000000, duty: 614.400000 I (3000) PWM: angle: 90.000000, duty: 614.400000 I (3000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3050) PWM: angle: 90.000000, duty: 614.400000 I (3050) PWM: angle: 90.000000, duty: 614.400000 I (3100) PWM: angle: 90.000000, duty: 614.400000 I (3100) PWM: angle: 90.000000, duty: 614.400000 I (3100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3150) PWM: angle: 90.000000, duty: 614.400000 I (3150) PWM: angle: 90.000000, duty: 614.400000 I (3200) PWM: angle: 90.000000, duty: 614.400000 I (3200) PWM: angle: 90.000000, duty: 614.400000 I (3200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3250) PWM: angle: 90.000000, duty: 614.400000 I (3250) PWM: angle: 90.000000, duty: 614.400000 I (3300) PWM: angle: 90.000000, duty: 614.400000 I (3300) PWM: angle: 90.000000, duty: 614.400000 I (3300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3350) PWM: angle: 90.000000, duty: 614.400000 I (3350) PWM: angle: 90.000000, duty: 614.400000 I (3400) PWM: angle: 90.000000, duty: 614.400000 I (3400) PWM: angle: 90.000000, duty: 614.400000 I (3400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3450) PWM: angle: 90.000000, duty: 614.400000 I (3450) PWM: angle: 90.000000, duty: 614.400000 I (3500) PWM: angle: 90.000000, duty: 614.400000 I (3500) PWM: angle: 90.000000, duty: 614.400000 I (3500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3550) PWM: angle: 90.000000, duty: 614.400000 I (3550) PWM: angle: 90.000000, duty: 614.400000 I (3600) PWM: angle: 90.000000, duty: 614.400000 I (3600) PWM: angle: 90.000000, duty: 614.400000 I (3600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3650) PWM: angle: 90.000000, duty: 614.400000 I (3650) PWM: angle: 90.000000, duty: 614.400000 I (3700) PWM: angle: 90.000000, duty: 614.400000 I (3700) PWM: angle: 90.000000, duty: 614.400000 I (3700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3750) PWM: angle: 90.000000, duty: 614.400000 I (3750) PWM: angle: 90.000000, duty: 614.400000 I (3800) PWM: angle: 90.000000, duty: 614.400000 I (3800) PWM: angle: 90.000000, duty: 614.400000 I (3800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3850) PWM: angle: 90.000000, duty: 614.400000 I (3850) PWM: angle: 90.000000, duty: 614.400000 I (3900) PWM: angle: 90.000000, duty: 614.400000 I (3900) PWM: angle: 90.000000, duty: 614.400000 I (3900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (3950) PWM: angle: 90.000000, duty: 614.400000 I (3950) PWM: angle: 90.000000, duty: 614.400000 I (4000) PWM: angle: 90.000000, duty: 614.400000 I (4000) PWM: angle: 90.000000, duty: 614.400000 I (4000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4050) PWM: angle: 90.000000, duty: 614.400000 I (4050) PWM: angle: 90.000000, duty: 614.400000 I (4100) PWM: angle: 90.000000, duty: 614.400000 I (4100) PWM: angle: 90.000000, duty: 614.400000 I (4100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4150) PWM: angle: 90.000000, duty: 614.400000 I (4150) PWM: angle: 90.000000, duty: 614.400000 I (4200) PWM: angle: 90.000000, duty: 614.400000 I (4200) PWM: angle: 90.000000, duty: 614.400000 I (4200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4250) PWM: angle: 90.000000, duty: 614.400000 I (4250) PWM: angle: 90.000000, duty: 614.400000 I (4300) PWM: angle: 90.000000, duty: 614.400000 I (4300) PWM: angle: 90.000000, duty: 614.400000 I (4300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4350) PWM: angle: 90.000000, duty: 614.400000 I (4350) PWM: angle: 90.000000, duty: 614.400000 I (4400) PWM: angle: 90.000000, duty: 614.400000 I (4400) PWM: angle: 90.000000, duty: 614.400000 I (4400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4450) PWM: angle: 90.000000, duty: 614.400000 I (4450) PWM: angle: 90.000000, duty: 614.400000 I (4500) PWM: angle: 90.000000, duty: 614.400000 I (4500) PWM: angle: 90.000000, duty: 614.400000 I (4500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4550) PWM: angle: 90.000000, duty: 614.400000 I (4550) PWM: angle: 90.000000, duty: 614.400000 I (4600) PWM: angle: 90.000000, duty: 614.400000 I (4600) PWM: angle: 90.000000, duty: 614.400000 I (4600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4650) PWM: angle: 90.000000, duty: 614.400000 I (4650) PWM: angle: 90.000000, duty: 614.400000 I (4700) PWM: angle: 90.000000, duty: 614.400000 I (4700) PWM: angle: 90.000000, duty: 614.400000 I (4700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4750) PWM: angle: 90.000000, duty: 614.400000 I (4750) PWM: angle: 90.000000, duty: 614.400000 I (4800) PWM: angle: 90.000000, duty: 614.400000 I (4800) PWM: angle: 90.000000, duty: 614.400000 I (4800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4850) PWM: angle: 90.000000, duty: 614.400000 I (4850) PWM: angle: 90.000000, duty: 614.400000 I (4900) PWM: angle: 90.000000, duty: 614.400000 I (4900) PWM: angle: 90.000000, duty: 614.400000 I (4900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (4950) PWM: angle: 90.000000, duty: 614.400000 I (4950) PWM: angle: 90.000000, duty: 614.400000 I (5000) PWM: angle: 90.000000, duty: 614.400000 I (5000) PWM: angle: 90.000000, duty: 614.400000 I (5000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5050) PWM: angle: 90.000000, duty: 614.400000 I (5050) PWM: angle: 90.000000, duty: 614.400000 I (5100) PWM: angle: 90.000000, duty: 614.400000 I (5100) PWM: angle: 90.000000, duty: 614.400000 I (5100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5150) PWM: angle: 90.000000, duty: 614.400000 I (5150) PWM: angle: 90.000000, duty: 614.400000 I (5200) PWM: angle: 90.000000, duty: 614.400000 I (5200) PWM: angle: 90.000000, duty: 614.400000 I (5200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5250) PWM: angle: 90.000000, duty: 614.400000 I (5250) PWM: angle: 90.000000, duty: 614.400000 I (5300) PWM: angle: 90.000000, duty: 614.400000 I (5300) PWM: angle: 90.000000, duty: 614.400000 I (5300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5350) PWM: angle: 90.000000, duty: 614.400000 I (5350) PWM: angle: 90.000000, duty: 614.400000 I (5400) PWM: angle: 90.000000, duty: 614.400000 I (5400) PWM: angle: 90.000000, duty: 614.400000 I (5400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5450) PWM: angle: 90.000000, duty: 614.400000 I (5450) PWM: angle: 90.000000, duty: 614.400000 I (5500) PWM: angle: 90.000000, duty: 614.400000 I (5500) PWM: angle: 90.000000, duty: 614.400000 I (5500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5550) PWM: angle: 90.000000, duty: 614.400000 I (5550) PWM: angle: 90.000000, duty: 614.400000 I (5600) PWM: angle: 90.000000, duty: 614.400000 I (5600) PWM: angle: 90.000000, duty: 614.400000 I (5600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5650) PWM: angle: 90.000000, duty: 614.400000 I (5650) PWM: angle: 90.000000, duty: 614.400000 I (5700) PWM: angle: 90.000000, duty: 614.400000 I (5700) PWM: angle: 90.000000, duty: 614.400000 I (5700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5750) PWM: angle: 90.000000, duty: 614.400000 I (5750) PWM: angle: 90.000000, duty: 614.400000 I (5800) PWM: angle: 90.000000, duty: 614.400000 I (5800) PWM: angle: 90.000000, duty: 614.400000 I (5800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5850) PWM: angle: 90.000000, duty: 614.400000 I (5850) PWM: angle: 90.000000, duty: 614.400000 I (5900) PWM: angle: 90.000000, duty: 614.400000 I (5900) PWM: angle: 90.000000, duty: 614.400000 I (5900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (5950) PWM: angle: 90.000000, duty: 614.400000 I (5950) PWM: angle: 90.000000, duty: 614.400000 I (6000) PWM: angle: 90.000000, duty: 614.400000 I (6000) PWM: angle: 90.000000, duty: 614.400000 I (6000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6050) PWM: angle: 90.000000, duty: 614.400000 I (6050) PWM: angle: 90.000000, duty: 614.400000 I (6100) PWM: angle: 90.000000, duty: 614.400000 I (6100) PWM: angle: 90.000000, duty: 614.400000 I (6100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6150) PWM: angle: 90.000000, duty: 614.400000 I (6150) PWM: angle: 90.000000, duty: 614.400000 I (6200) PWM: angle: 90.000000, duty: 614.400000 I (6200) PWM: angle: 90.000000, duty: 614.400000 I (6200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6250) PWM: angle: 90.000000, duty: 614.400000 I (6250) PWM: angle: 90.000000, duty: 614.400000 I (6300) PWM: angle: 90.000000, duty: 614.400000 I (6300) PWM: angle: 90.000000, duty: 614.400000 I (6300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6350) PWM: angle: 90.000000, duty: 614.400000 I (6350) PWM: angle: 90.000000, duty: 614.400000 I (6400) PWM: angle: 90.000000, duty: 614.400000 I (6400) PWM: angle: 90.000000, duty: 614.400000 I (6400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6450) PWM: angle: 90.000000, duty: 614.400000 I (6450) PWM: angle: 90.000000, duty: 614.400000 I (6500) PWM: angle: 90.000000, duty: 614.400000 I (6500) PWM: angle: 90.000000, duty: 614.400000 I (6500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6550) PWM: angle: 90.000000, duty: 614.400000 I (6550) PWM: angle: 90.000000, duty: 614.400000 I (6600) PWM: angle: 90.000000, duty: 614.400000 I (6600) PWM: angle: 90.000000, duty: 614.400000 I (6600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6650) PWM: angle: 90.000000, duty: 614.400000 I (6650) PWM: angle: 90.000000, duty: 614.400000 I (6700) PWM: angle: 90.000000, duty: 614.400000 I (6700) PWM: angle: 90.000000, duty: 614.400000 I (6700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6750) PWM: angle: 90.000000, duty: 614.400000 I (6750) PWM: angle: 90.000000, duty: 614.400000 I (6800) PWM: angle: 90.000000, duty: 614.400000 I (6800) PWM: angle: 90.000000, duty: 614.400000 I (6800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6850) PWM: angle: 90.000000, duty: 614.400000 I (6850) PWM: angle: 90.000000, duty: 614.400000 I (6900) PWM: angle: 90.000000, duty: 614.400000 I (6900) PWM: angle: 90.000000, duty: 614.400000 I (6900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (6950) PWM: angle: 90.000000, duty: 614.400000 I (6950) PWM: angle: 90.000000, duty: 614.400000 I (7000) PWM: angle: 90.000000, duty: 614.400000 I (7000) PWM: angle: 90.000000, duty: 614.400000 I (7000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7050) PWM: angle: 90.000000, duty: 614.400000 I (7050) PWM: angle: 90.000000, duty: 614.400000 I (7100) PWM: angle: 90.000000, duty: 614.400000 I (7100) PWM: angle: 90.000000, duty: 614.400000 I (7100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7150) PWM: angle: 90.000000, duty: 614.400000 I (7150) PWM: angle: 90.000000, duty: 614.400000 I (7200) PWM: angle: 90.000000, duty: 614.400000 I (7200) PWM: angle: 90.000000, duty: 614.400000 I (7200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7250) modbus tcp: accept assess I (7250) PWM: angle: 90.000000, duty: 614.400000 I (7250) PWM: angle: 90.000000, duty: 614.400000 I (7300) PWM: angle: 90.000000, duty: 614.400000 I (7300) PWM: angle: 90.000000, duty: 614.400000 I (7300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7350) PWM: angle: 90.000000, duty: 614.400000 I (7350) PWM: angle: 90.000000, duty: 614.400000 I (7400) PWM: angle: 90.000000, duty: 614.400000 I (7400) PWM: angle: 90.000000, duty: 614.400000 I (7400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7450) PWM: angle: 90.000000, duty: 614.400000 I (7450) PWM: angle: 90.000000, duty: 614.400000 I (7500) PWM: angle: 90.000000, duty: 614.400000 I (7500) PWM: angle: 90.000000, duty: 614.400000 I (7500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7550) PWM: angle: 90.000000, duty: 614.400000 I (7550) PWM: angle: 90.000000, duty: 614.400000 I (7600) PWM: angle: 90.000000, duty: 614.400000 I (7600) PWM: angle: 90.000000, duty: 614.400000 I (7600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7650) PWM: angle: 90.000000, duty: 614.400000 I (7650) PWM: angle: 90.000000, duty: 614.400000 I (7700) PWM: angle: 90.000000, duty: 614.400000 I (7700) PWM: angle: 90.000000, duty: 614.400000 I (7700) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7750) PWM: angle: 90.000000, duty: 614.400000 I (7750) PWM: angle: 90.000000, duty: 614.400000 I (7800) PWM: angle: 90.000000, duty: 614.400000 I (7800) PWM: angle: 90.000000, duty: 614.400000 I (7800) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7850) PWM: angle: 90.000000, duty: 614.400000 I (7850) PWM: angle: 90.000000, duty: 614.400000 I (7900) PWM: angle: 90.000000, duty: 614.400000 I (7900) PWM: angle: 90.000000, duty: 614.400000 I (7900) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (7950) PWM: angle: 90.000000, duty: 614.400000 I (7950) PWM: angle: 90.000000, duty: 614.400000 I (8000) PWM: angle: 90.000000, duty: 614.400000 I (8000) PWM: angle: 90.000000, duty: 614.400000 I (8000) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (8050) PWM: angle: 90.000000, duty: 614.400000 I (8050) PWM: angle: 90.000000, duty: 614.400000 I (8100) PWM: angle: 90.000000, duty: 614.400000 I (8100) PWM: angle: 90.000000, duty: 614.400000 I (8100) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (8150) PWM: angle: 90.000000, duty: 614.400000 I (8150) PWM: angle: 90.000000, duty: 614.400000 I (8200) PWM: angle: 90.000000, duty: 614.400000 I (8200) PWM: angle: 90.000000, duty: 614.400000 I (8200) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (8250) PWM: angle: 90.000000, duty: 614.400000 I (8250) PWM: angle: 90.000000, duty: 614.400000 I (8300) PWM: angle: 90.000000, duty: 614.400000 I (8300) PWM: angle: 90.000000, duty: 614.400000 I (8300) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (8350) PWM: angle: 90.000000, duty: 614.400000 I (8350) PWM: angle: 90.000000, duty: 614.400000 I (8400) PWM: angle: 90.000000, duty: 614.400000 I (8400) PWM: angle: 90.000000, duty: 614.400000 I (8400) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (8450) PWM: angle: 90.000000, duty: 614.400000 I (8450) PWM: angle: 90.000000, duty: 614.400000 I (8500) PWM: angle: 90.000000, duty: 614.400000 I (8500) PWM: angle: 90.000000, duty: 614.400000 I (8500) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (8550) PWM: angle: 90.000000, duty: 614.400000 I (8550) PWM: angle: 90.000000, duty: 614.400000 I (8600) PWM: angle: 90.000000, duty: 614.400000 I (8600) PWM: angle: 90.000000, duty: 614.400000 I (8600) Adc measure: v_raw = 4095, i_l_raw = 0, i_r_raw = 0 I (8650) PWM: angle: 90.000000, duty: 614.400000 I (8650) PWM: angle: 90.000000, duty: 614.400000