From 4e2c23083a57c8d5d3ad379670901340f8a1c57d Mon Sep 17 00:00:00 2001
From: Masatake Aoki <aoki@rt-net.jp>
Date: Mon, 10 Jun 2024 12:37:30 +0900
Subject: [PATCH 1/2] fix v3.0.1

---
 .DS_Store                                     | Bin 10244 -> 12292 bytes
 README.md                                     |   2 +-
 pico_v2_STEP3_Buzzer/.DS_Store                | Bin 0 -> 6148 bytes
 pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino |  29 ++++-----
 pico_v2_STEP4_Sensor/.DS_Store                | Bin 0 -> 6148 bytes
 pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino |   8 +--
 pico_v2_STEP5_Straight/.DS_Store              | Bin 0 -> 6148 bytes
 .../pico_v2_STEP5_Straight.ino                |  28 ++++----
 pico_v2_STEP6_rotate/.DS_Store                | Bin 0 -> 6148 bytes
 pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino |  28 ++++----
 pico_v2_STEP7_P_control/.DS_Store             | Bin 0 -> 6148 bytes
 .../pico_v2_STEP7_P_control.ino               |  42 ++++++------
 pico_v2_STEP8_micromouse/.DS_Store            | Bin 0 -> 6148 bytes
 pico_v2_STEP8_micromouse/device.h             |   2 +-
 pico_v2_STEP8_micromouse/device.ino           |  61 +++++++++---------
 15 files changed, 99 insertions(+), 101 deletions(-)
 create mode 100644 pico_v2_STEP3_Buzzer/.DS_Store
 create mode 100644 pico_v2_STEP4_Sensor/.DS_Store
 create mode 100644 pico_v2_STEP5_Straight/.DS_Store
 create mode 100644 pico_v2_STEP6_rotate/.DS_Store
 create mode 100644 pico_v2_STEP7_P_control/.DS_Store
 create mode 100644 pico_v2_STEP8_micromouse/.DS_Store

diff --git a/.DS_Store b/.DS_Store
index 3b554f454233b563298308368d45a7d73b3028c2..b35ec86a6d116c32337323390acd5428ae99369f 100644
GIT binary patch
literal 12292
zcmeHNL2naB6n+~VvZ*OeC0ZzjcBM)PL6pXX&>{qKj3W_=mXwW(1g%m#wi2uMu4S)@
z)DV;d5(hZ+*h~2fNZk4d5L`HNXr)SAdh4l|-r8?w*7nReOLvUu!OTQ6Z!<gZ&Ccg<
z=gquXB613yN{;9_5xK}rPVGZ+m&nUPN{QWPc_8gUje~pv8P`)pYZTHd-K0|}|2vJL
z3DeIYAD|}H6n&poXpxrbG;H})rGVP7-fC{-{I#&r6z0+A46Q>mYJ`<yxgM5L@Ba19
zp({t|@dCFU-&gd;eiZ7qv<O%PECLn*i@=+Q0Q0>_uIBGWtt~AA7J)Y!0X9E)$V}#A
zxg#W>I#94BJiE`9@I2ufYjR%a#WEku9U-|Ybhs*{P<7%hh9lHb@3H2P`B?4<Db&dk
z>g2>dJMj+1;k`r8<ITy*3u#M>fJI;sfsas?dhdPHZw2)*SceXK4c|}Pv(NKAdqgcN
zVQ;=p8x$?o!?k#Sj#tz<3jGKF@PsQvTjkAmGq&|hxmmBZquJT#&e)#J_}&S3!p*wh
z`WxY<AC;m`yHIM~VE?UzVZGeFE|tHoRX10s4qOa_s8kE8Ev`_jRMF&{Yqg*fZWh8$
zP-$~rU)*pf-O1Id54N^)XXmE9x!nBrw6~R;J9}!{J2QWJdwbG-?~_l@U0waY-Uz~b
zd|2ef^A)`<{_mCdO$S|HmjfS%e=^l?gvDNf<hLVh2fxbl0Ey9$C<j@FwV?!JXqEwD
z^b8salgWDqBy1sM6oG^hRaFAg0!X-DB4BDeqe8ya16GN5^mqJVsdZ)2P0#d5XQ1DY
z>J6j63)xcltr6{D;%xUBh_;N(qMre%#z<G!==M;fo1wK)A)Vo{RqCB&bE%;PnSj@e
zJpvkA>C<p{D=HcD7>wy?G)f*yq~zzIV}l3O85tYM9fZ%dIgmMFWezm9H!8F=9=J-(
zCy($`8rzVmx&P-LHHWa%C+Dl!QRpf5O~%in5p<HS;tXejiu48K42W3K=0)a)Z%b~N
zy%aWC1S|p;0gJ%vN8n?0k?EeHD_+ex@wa?W_Ex){ughD*-R>*iMV!A+bo)hophIP)
zcgixKs<n`x;n}f2o_;9K_y=0`{b6z|<$1_MXXx!REzw1IsxR@y!Q!B&q8Z6ky_>lB
z%3<+!8CHs#1?&M#EvT4eZoxu|er24N|15X6`l&Sg*qLdnc=9N0@=l9=AL7$BpuGaT
zFR3{3*pQ5LYC9@g<9C2oYF!z#Uzd8^GSKfMH;ld!esjRDfOqBx{8g!?;>SW8N^C88
z44R!$S<a^(uu7P>&cBo}8dx%6_Kx+I@2UHiC(L2=UxhH*GCld3wU4hfqOl204&tV^
zGx|i+fYXTf;-y5>bY-F)%cdaOfPQ~wlJtqj@f1kM+4=us^7ntdku59&7J<=3z{wQ-
zVgX}w62`~Q+CAj&kh=+Od2<x}C?1j@#Y6I=cu0P>!`kCIAIlvfQG@jVe*~cUaBW()
g{=fV2cEZQk*8g+f@`4@Ure5%9M0;VP`+EHUzja64mH+?%

delta 839
zcmZokXbF&DU|?W$DortDU{C-uIe-{M3-C-V6q~3gIoUvmMHI+qFaTmkpg2QLx?yl~
zer~~LLB?-vlNA^@Zf56T;b1h_%%i}~IN4QEdGabnCpI_7XD6i@ChI6^OqNpOL2y$h
z-%$E7nN!t+ZAma##Q}Bs$-h+ig>v&#T#|C~lYrK6ph`_Xs;WDAzB>QpB6Sb8S20js
zRtTov#65zOCkj|G?wY($v`|y3y4ujlz(7aA%)-1@M*+w&GzM~v%xY^nIYgE9t%KsT
zb8_?YdnUh=kZ0_jJVC%<@>W3~j<Ot((Z?LY0+vENr~<V@6_ag+xyiIcP*`WOo`?tA
zoNBnI<wf`>uM*)w7kVX9#gkNCTmTIV^1Rd_YBYJJm><W+iBK;A1w@cT7+GR+xp>oL
zPYD#S8Jp`Um>U`s6MTG<Eo@u<gT3`Y(rofMNgf2ZbF&De36mf*C;<V}6*rJ@1*I)u
y+WF2rnP10{6_}(L8YVmHNOLej5}(H81f7}UMGT1ynGER+84M*92L`R<R|Wv&>i=;7

diff --git a/README.md b/README.md
index da0a599..6b99151 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@ Pi:Co V2用のArduinoサンプルスケッチ集
 
 ## 動作環境
 
-- arduino-esp32 : v2.0.17
+- arduino-esp32 : v3.0.1
 
 ## サンプルスケッチについて
 
diff --git a/pico_v2_STEP3_Buzzer/.DS_Store b/pico_v2_STEP3_Buzzer/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..0895a0534221cf3d874c182afe52e4342452f26b
GIT binary patch
literal 6148
zcmeHKJx{|>3_L@JN-P~azF$xY*wIte4s1we2emLDRSiNa15-BsHSPJMh$v-cKz3zc
zp5u#^8{!&(G`puuU;<!FSH!1=q3M0~ft^K0h;%;V0q?kCT;hIEeLA7sDPHk{HQFA3
zfje9?(_n`W{+{uM8SA!aZ#V6FwP{!6vZ;I#Z}wrQ+hjHsNCi@XR3H^d1wsLxy|nR#
zW5!e<6-WiX70~ZPp)1zF&e1*{47LIgM@*aX+I9(I(FCyuc8<)@#HmE5N~{>-bmmLc
z)xgft=@9G8=R{|T4MnUw^To;`)iGl#kP7q_IQQd3=l_EK%l_Xd<tY_N1^$%+GMX>v
z4PPl{>)_>d))x9B{b;PUat0g4L>t9C=qR54s4IHS`!%q0G&=J}C*~gk)g>(z_zMLN
DZ{8v_

literal 0
HcmV?d00001

diff --git a/pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino b/pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino
index 2d61db3..9e836ee 100644
--- a/pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino
+++ b/pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino
@@ -59,22 +59,22 @@ void execByMode(char mode)
 {
   switch (mode) {
     case 1:
-      ledcWriteTone(0, FREQ_C);
+      ledcWriteTone(BUZZER, FREQ_C);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 0);
       break;
     case 2:
-      ledcWriteTone(0, FREQ_D);
+      ledcWriteTone(BUZZER, FREQ_D);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 0);
       break;
     case 3:
-      ledcWriteTone(0, FREQ_E);
+      ledcWriteTone(BUZZER, FREQ_E);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 0);
       break;
     default:
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 0);
       break;
   }
 }
@@ -90,9 +90,8 @@ void setup()
   pinMode(SW_L, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 0);
 
   g_mode = 1;
   setLED(g_mode);
@@ -109,18 +108,18 @@ void loop()
     if (g_mode > 15) {
       g_mode = 1;
     } else {
-      ledcWriteTone(0, INC_FREQ);
+      ledcWriteTone(BUZZER, INC_FREQ);
       delay(30);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 0);
     }
     setLED(g_mode);
   }
   if (digitalRead(SW_L) == 0) {
-    ledcWriteTone(0, INC_FREQ);
+    ledcWriteTone(BUZZER, INC_FREQ);
     delay(80);
-    ledcWriteTone(0, DEC_FREQ);
+    ledcWriteTone(BUZZER, DEC_FREQ);
     delay(80);
-    ledcWrite(0, 1024);
+    ledcWrite(BUZZER, 0);
     delay(300);
     execByMode(g_mode);
   }
diff --git a/pico_v2_STEP4_Sensor/.DS_Store b/pico_v2_STEP4_Sensor/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..7686eaa58377240f4d5635894a6d461a2e274f0d
GIT binary patch
literal 6148
zcmeHKyG{c^3>-s>NHi%^?iU~t@d2wSDd-}F9+W_V6y+jNQeVd}@IU!57(YOqF0?6-
zE!lJH_3Y}VIG+K?bpLb%i~tPjig?%1H{Dn7*+pc8Naq<3IAFrK#C@;&bV9jf?C^p$
znht-C1#a!EXKeAt-B(<*Zj0t_)2vsUW<@S9l_T-vGwk#=nN0;!fm9$BNCi@XP(XVx
zZFuFFF%?J!Qh^@@^!rfgiZ!rxv`+_vjR3>}(`J0OS%O$JL9BtTBQrE{D$%JDBZfGg
z`4V+Cuyu4g#BSy}akIpPB6d6T#mXVoF=Hx_3Un2?^yNtV|D68E{NE+zDiuft{*?kU
zm@Q{hzEbqo-pgsPE%ZnFx3SjB8LSl(trc^jt$6&auIMxOYhdeWbmomt%pU>OB`p;=
GhXP-k%pyzx

literal 0
HcmV?d00001

diff --git a/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino b/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino
index 6ac6367..ab64ac1 100644
--- a/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino
+++ b/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino
@@ -81,10 +81,10 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer1 = timerBegin(1, 80, true);  //1us
-  timerAttachInterrupt(g_timer1, &onTimer1, true);
-  timerAlarmWrite(g_timer1, 500, true);  //2kHz
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 500, true, 0);  //2kHz
+  timerStart(g_timer1);
 }
 
 void loop()
diff --git a/pico_v2_STEP5_Straight/.DS_Store b/pico_v2_STEP5_Straight/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..654deadbbc7d7ad8724b3deb508134c24373068e
GIT binary patch
literal 6148
zcmeHKJxc>Y5Pcg121H0HR{IMC1skg)B!!(2do>r)K*&i*the?j`e*dbhnnD}uo00N
z*m;xLnYp<K*}Vaf2J7i5&<D`t5=>&Wh`3v~Iv%`7Oj=`!CDwSt3MVav{-R5IKg0|R
z_I%Iozxo$nb2)G7$-J2`iWGHf;>DW_?PI>{3^f|u;2CGsV_ai|E1avnV!b;?Jm66|
z*;VspqvpQ$upooGqF*<n*+fV%5DWwZ!9XzZBL;Y9i}Vf*Lk9!FKrryhfSeDROR#b*
zhI({R=?FmV(yc;UW(mp3j+J9E<PIfSD$!Dtj~L0)>CYZlITk}pNAlq#`IA3}m!wZ;
z{jA|gm0{>$AQ;$YKxSV`U+(`A|1zyZzJ`Pf27-bA%0TK4$HM{N&hOT5?<sd}=DOt)
rk+>oTh4$7*0Ds6ia-^HKpT%Ze<yZ`*iug617#{*kNT^`o7Z`X4%E?0u

literal 0
HcmV?d00001

diff --git a/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino b/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino
index 5bfdcdd..ad86fe3 100644
--- a/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino
+++ b/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino
@@ -62,7 +62,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -78,7 +78,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -113,20 +113,20 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 }
 
 void loop()
diff --git a/pico_v2_STEP6_rotate/.DS_Store b/pico_v2_STEP6_rotate/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..1c047a4dacdebca89adfc5f8488b58a4e3827085
GIT binary patch
literal 6148
zcmeHK!Ab)`41H+}7Oc=?kMjiuJ$N2Ud+;XIqoB5WD3q=&t>^tP|4m;q5x2M=yog8w
zGcU~~nVAQjYyimY@OTc40Sq}5MU@UwbLUdeo%=+w95rej@QgjC9f|&;NzZ<U4R$>9
z6HotnezjFs+iJbqRx5guqTVU-_05I)gm>LwjS6>o!3F0fZm_^LE~(eF@9|)nr?y8&
zJ{h(0o!I_6viHsIa@+Fe0YZX-U?3O>27-YfGr*dyGSsRT5)1?b!9be<eIF8sVs>l_
z+S9?wS^(mJW)te#OK41T%#KY#u27_e5=*Ffiy<YP_T+xqu_;)>A>Mq5@BGoci0#h&
z$=o5iV9dclFmTL(_P&&{*8c_nGM!Dnxx^F<1Oxw-0U6Af^BHgFwe`zAwbmw%dkz)#
qYgD07Kl%vZ4}C`_wpiAa>h#NwO+n3~b_*xQhky|hQ!wxg47>w@&_L4w

literal 0
HcmV?d00001

diff --git a/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino b/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino
index b314a32..17bb53a 100644
--- a/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino
+++ b/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino
@@ -71,7 +71,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -87,7 +87,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -122,20 +122,20 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 }
 
 void loop()
diff --git a/pico_v2_STEP7_P_control/.DS_Store b/pico_v2_STEP7_P_control/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..c31a80ccf4644f2678de1f794eb26e8666558c7b
GIT binary patch
literal 6148
zcmeHK!Ab)`41Ljp1rd4_yv!E}dhxoH_Tb4vy(_If6qc?m*7N+4KjZ(@mq}JBZVz5W
zB!S7xW|Hj8gPqv`kn#5E3K#(xawv)#J)-X3sUr_QCQ7N%qQw@^c)?{)p}*+TwVz>)
z4cENl>c7^nzUH=WmW#SsFp3n(JMnGjLi>VyU1Ny`4|v5j^&Iz@Vul;qGY*~8+AXmr
zD~GCfMR%-vQdY4!94&WUIHN;?fnXpQ2nK?IpE1BYTV;4^7&;gT27-Z42K0PL9Ez1=
zHY`U6RcQf;1G<aQ)?Pw$l4IqV4LL&*OC?&Wc#9#HPJi;a$}t;SI>eg~@i%wPi<Gys
zek$RR$}n^=5De@ypuI0;r1$@npG<F)UqV6!1Hr(5Wk3d#`DD!9`Q7?$pL*9Ojz<m^
rjmv6KXz%?5@IlX!^D=4kNo~eej@eMFsK2BW<42$n5-J$@1qMC<V){iW

literal 0
HcmV?d00001

diff --git a/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino b/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino
index d186b53..b0044f9 100644
--- a/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino
+++ b/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino
@@ -124,7 +124,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -140,7 +140,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -182,25 +182,25 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
-
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, false);
-  timerAlarmWrite(g_timer1, 500, true);
-  timerAlarmEnable(g_timer1);
-
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
-
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer0 = timerBegin(1000000);  //1us
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerStart(g_timer0);
+
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 500, true, 0);
+  timerStart(g_timer1);
+
+  g_timer2 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerStart(g_timer2);
+
+  g_timer3 = timerBegin(2000000);  //0.5us
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerStart(g_timer3);
 
   g_sen_r.ref = REF_SEN_R;
   g_sen_l.ref = REF_SEN_L;
diff --git a/pico_v2_STEP8_micromouse/.DS_Store b/pico_v2_STEP8_micromouse/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..df27090ac28f0b9e6a0686d2785b1ff243e0c551
GIT binary patch
literal 6148
zcmeHK%TB{E5FCd}L`6J~96-t!RDu)7fB>ntO63l;w56yol@^Ix?)(G4z}N6GoXYIl
zlsvBpfwx*uV(-M>abnj1%-Qnp2-pJ<(gkaE79}R_;spy_%?{D%Gaj)(14B$OEkyeY
zuYgzJw<#dsZXLI{!vmH`eZS4owA&d?J8b9T5Cp5$szq00T}Va`PyE)q#0KuO@pxlQ
zV;wDhWaD*>$a2hKjuWEKkyVb#yyW7yb>&%bJahh*n0>ECxt=}>%rSeK;TnPy`aqvj
z$SWA+n7hg-W0qtXyyw^<*+XX7{aQ7%<HRZBUsEb>G5(oZJ#(x*RkUBBeU>$2Msxa@
zEUQl;GgUv$I$$3%yHl$2gkzR%T;T#OoTyIHHfQUYE^m&!1tmG_ETx~jsdF=_h?bd2
zN7wbqGWss=%Q-qHSx%dyY~qr?b_GXfBF*9LzccRHV&RrWUwQ?+0$zc&0<u0tbivqR
zVo{e47J39A)>y5^YdK2@Cvq4&Of0g6W-OIxsm2{KjHR<aa&fW4#G<9cxWk8WJsWpI
zG1@zyA89yDY|)oq0k1$-fem}RC;R_J_4z+b@^@YVufU&Dz|_v$=VwgG?X896WUr0r
rH*_(HODrmdh1-txLbl?4x*FRexgf?46N{{&`9A_GgD<=SKdQhd@(teu

literal 0
HcmV?d00001

diff --git a/pico_v2_STEP8_micromouse/device.h b/pico_v2_STEP8_micromouse/device.h
index 1d2625b..37485e8 100644
--- a/pico_v2_STEP8_micromouse/device.h
+++ b/pico_v2_STEP8_micromouse/device.h
@@ -33,6 +33,6 @@
 //#define SW_CM 2
 #define SW_RM 4
 
-#define BUZZER_CH 0
+
 
 #endif  // DEVICE_H_
\ No newline at end of file
diff --git a/pico_v2_STEP8_micromouse/device.ino b/pico_v2_STEP8_micromouse/device.ino
index e35ef0a..2dbee2b 100644
--- a/pico_v2_STEP8_micromouse/device.ino
+++ b/pico_v2_STEP8_micromouse/device.ino
@@ -53,7 +53,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -69,7 +69,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -80,21 +80,21 @@ void IRAM_ATTR isrL(void)
   portEXIT_CRITICAL_ISR(&g_timer_mux);
 }
 
-void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
-void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
+void controlInterruptStart(void) { timerStart(g_timer0); }
+void controlInterruptStop(void) { timerStop(g_timer0); }
 
-void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
-void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
+void sensorInterruptStart(void) { timerStart(g_timer1); }
+void sensorInterruptStop(void) { timerStop(g_timer1); }
 
 void PWMInterruptStart(void)
 {
-  timerAlarmEnable(g_timer2);
-  timerAlarmEnable(g_timer3);
+  timerStart(g_timer2);
+  timerStart(g_timer3);
 }
 void PWMInterruptStop(void)
 {
-  timerAlarmDisable(g_timer2);
-  timerAlarmDisable(g_timer3);
+  timerStop(g_timer2);
+  timerStop(g_timer3);
 }
 
 void initAll(void)
@@ -110,9 +110,8 @@ void initAll(void)
   pinMode(SW_L, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 0);
 
   pinMode(SLED_F, OUTPUT);
   pinMode(SLED_S, OUTPUT);
@@ -137,25 +136,25 @@ void initAll(void)
     }
   }
 
-  g_timer0 = timerBegin(0, 80, true);
-  timerAttachInterrupt(g_timer0, &onTimer0, false);
-  timerAlarmWrite(g_timer0, 1000, true);
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);
+  timerStart(g_timer0);
 
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, false);
-  timerAlarmWrite(g_timer1, 500, true);
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 500, true, 0);
+  timerStart(g_timer1);
 
-  g_timer2 = timerBegin(2, 40, true);
-  timerAttachInterrupt(g_timer2, &isrR, false);
-  timerAlarmWrite(g_timer2, 13333, true);
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);
-  timerAttachInterrupt(g_timer3, &isrL, false);
-  timerAlarmWrite(g_timer3, 13333, true);
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);
+  timerStart(g_timer3);
 
   Serial.begin(115200);
 
@@ -207,10 +206,10 @@ void setBLED(char data)
 }
 
 //Buzzer
-void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
+void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
 void disableBuzzer(void)
 {
-  ledcWrite(BUZZER_CH, 1024);  //duty 100% Buzzer OFF
+  ledcWrite(BUZZER, 0);  //duty 0% Buzzer OFF
 }
 
 //motor

From baa8006722325ceb62cc2c4c4c4edec882d8233f Mon Sep 17 00:00:00 2001
From: Masatake Aoki <aoki@rt-net.jp>
Date: Mon, 10 Jun 2024 18:32:28 +0900
Subject: [PATCH 2/2] .DS_Store DEL and timer Commnet modify

---
 .DS_Store                                       | Bin 12292 -> 0 bytes
 pico_v2_STEP3_Buzzer/.DS_Store                  | Bin 6148 -> 0 bytes
 pico_v2_STEP4_Sensor/.DS_Store                  | Bin 6148 -> 0 bytes
 pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino   |   4 ++--
 pico_v2_STEP5_Straight/.DS_Store                | Bin 6148 -> 0 bytes
 .../pico_v2_STEP5_Straight.ino                  |  12 ++++++------
 pico_v2_STEP6_rotate/.DS_Store                  | Bin 6148 -> 0 bytes
 pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino   |  12 ++++++------
 pico_v2_STEP7_P_control/.DS_Store               | Bin 6148 -> 0 bytes
 .../pico_v2_STEP7_P_control.ino                 |  12 ++++++------
 pico_v2_STEP8_micromouse/.DS_Store              | Bin 6148 -> 0 bytes
 pico_v2_STEP8_micromouse/device.h               |   2 --
 12 files changed, 20 insertions(+), 22 deletions(-)
 delete mode 100644 .DS_Store
 delete mode 100644 pico_v2_STEP3_Buzzer/.DS_Store
 delete mode 100644 pico_v2_STEP4_Sensor/.DS_Store
 delete mode 100644 pico_v2_STEP5_Straight/.DS_Store
 delete mode 100644 pico_v2_STEP6_rotate/.DS_Store
 delete mode 100644 pico_v2_STEP7_P_control/.DS_Store
 delete mode 100644 pico_v2_STEP8_micromouse/.DS_Store

diff --git a/.DS_Store b/.DS_Store
deleted file mode 100644
index b35ec86a6d116c32337323390acd5428ae99369f..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 12292
zcmeHNL2naB6n+~VvZ*OeC0ZzjcBM)PL6pXX&>{qKj3W_=mXwW(1g%m#wi2uMu4S)@
z)DV;d5(hZ+*h~2fNZk4d5L`HNXr)SAdh4l|-r8?w*7nReOLvUu!OTQ6Z!<gZ&Ccg<
z=gquXB613yN{;9_5xK}rPVGZ+m&nUPN{QWPc_8gUje~pv8P`)pYZTHd-K0|}|2vJL
z3DeIYAD|}H6n&poXpxrbG;H})rGVP7-fC{-{I#&r6z0+A46Q>mYJ`<yxgM5L@Ba19
zp({t|@dCFU-&gd;eiZ7qv<O%PECLn*i@=+Q0Q0>_uIBGWtt~AA7J)Y!0X9E)$V}#A
zxg#W>I#94BJiE`9@I2ufYjR%a#WEku9U-|Ybhs*{P<7%hh9lHb@3H2P`B?4<Db&dk
z>g2>dJMj+1;k`r8<ITy*3u#M>fJI;sfsas?dhdPHZw2)*SceXK4c|}Pv(NKAdqgcN
zVQ;=p8x$?o!?k#Sj#tz<3jGKF@PsQvTjkAmGq&|hxmmBZquJT#&e)#J_}&S3!p*wh
z`WxY<AC;m`yHIM~VE?UzVZGeFE|tHoRX10s4qOa_s8kE8Ev`_jRMF&{Yqg*fZWh8$
zP-$~rU)*pf-O1Id54N^)XXmE9x!nBrw6~R;J9}!{J2QWJdwbG-?~_l@U0waY-Uz~b
zd|2ef^A)`<{_mCdO$S|HmjfS%e=^l?gvDNf<hLVh2fxbl0Ey9$C<j@FwV?!JXqEwD
z^b8salgWDqBy1sM6oG^hRaFAg0!X-DB4BDeqe8ya16GN5^mqJVsdZ)2P0#d5XQ1DY
z>J6j63)xcltr6{D;%xUBh_;N(qMre%#z<G!==M;fo1wK)A)Vo{RqCB&bE%;PnSj@e
zJpvkA>C<p{D=HcD7>wy?G)f*yq~zzIV}l3O85tYM9fZ%dIgmMFWezm9H!8F=9=J-(
zCy($`8rzVmx&P-LHHWa%C+Dl!QRpf5O~%in5p<HS;tXejiu48K42W3K=0)a)Z%b~N
zy%aWC1S|p;0gJ%vN8n?0k?EeHD_+ex@wa?W_Ex){ughD*-R>*iMV!A+bo)hophIP)
zcgixKs<n`x;n}f2o_;9K_y=0`{b6z|<$1_MXXx!REzw1IsxR@y!Q!B&q8Z6ky_>lB
z%3<+!8CHs#1?&M#EvT4eZoxu|er24N|15X6`l&Sg*qLdnc=9N0@=l9=AL7$BpuGaT
zFR3{3*pQ5LYC9@g<9C2oYF!z#Uzd8^GSKfMH;ld!esjRDfOqBx{8g!?;>SW8N^C88
z44R!$S<a^(uu7P>&cBo}8dx%6_Kx+I@2UHiC(L2=UxhH*GCld3wU4hfqOl204&tV^
zGx|i+fYXTf;-y5>bY-F)%cdaOfPQ~wlJtqj@f1kM+4=us^7ntdku59&7J<=3z{wQ-
zVgX}w62`~Q+CAj&kh=+Od2<x}C?1j@#Y6I=cu0P>!`kCIAIlvfQG@jVe*~cUaBW()
g{=fV2cEZQk*8g+f@`4@Ure5%9M0;VP`+EHUzja64mH+?%

diff --git a/pico_v2_STEP3_Buzzer/.DS_Store b/pico_v2_STEP3_Buzzer/.DS_Store
deleted file mode 100644
index 0895a0534221cf3d874c182afe52e4342452f26b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6148
zcmeHKJx{|>3_L@JN-P~azF$xY*wIte4s1we2emLDRSiNa15-BsHSPJMh$v-cKz3zc
zp5u#^8{!&(G`puuU;<!FSH!1=q3M0~ft^K0h;%;V0q?kCT;hIEeLA7sDPHk{HQFA3
zfje9?(_n`W{+{uM8SA!aZ#V6FwP{!6vZ;I#Z}wrQ+hjHsNCi@XR3H^d1wsLxy|nR#
zW5!e<6-WiX70~ZPp)1zF&e1*{47LIgM@*aX+I9(I(FCyuc8<)@#HmE5N~{>-bmmLc
z)xgft=@9G8=R{|T4MnUw^To;`)iGl#kP7q_IQQd3=l_EK%l_Xd<tY_N1^$%+GMX>v
z4PPl{>)_>d))x9B{b;PUat0g4L>t9C=qR54s4IHS`!%q0G&=J}C*~gk)g>(z_zMLN
DZ{8v_

diff --git a/pico_v2_STEP4_Sensor/.DS_Store b/pico_v2_STEP4_Sensor/.DS_Store
deleted file mode 100644
index 7686eaa58377240f4d5635894a6d461a2e274f0d..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6148
zcmeHKyG{c^3>-s>NHi%^?iU~t@d2wSDd-}F9+W_V6y+jNQeVd}@IU!57(YOqF0?6-
zE!lJH_3Y}VIG+K?bpLb%i~tPjig?%1H{Dn7*+pc8Naq<3IAFrK#C@;&bV9jf?C^p$
znht-C1#a!EXKeAt-B(<*Zj0t_)2vsUW<@S9l_T-vGwk#=nN0;!fm9$BNCi@XP(XVx
zZFuFFF%?J!Qh^@@^!rfgiZ!rxv`+_vjR3>}(`J0OS%O$JL9BtTBQrE{D$%JDBZfGg
z`4V+Cuyu4g#BSy}akIpPB6d6T#mXVoF=Hx_3Un2?^yNtV|D68E{NE+zDiuft{*?kU
zm@Q{hzEbqo-pgsPE%ZnFx3SjB8LSl(trc^jt$6&auIMxOYhdeWbmomt%pU>OB`p;=
GhXP-k%pyzx

diff --git a/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino b/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino
index ab64ac1..ceb2a67 100644
--- a/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino
+++ b/pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino
@@ -81,9 +81,9 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer1 = timerBegin(1000000);  //1us
+  g_timer1 = timerBegin(1000000);  //1MHz(1us)
   timerAttachInterrupt(g_timer1, &onTimer1);
-  timerAlarm(g_timer1, 500, true, 0);  //2kHz
+  timerAlarm(g_timer1, 500, true, 0);  //500 * 1us = 500us(2kHz)
   timerStart(g_timer1);
 }
 
diff --git a/pico_v2_STEP5_Straight/.DS_Store b/pico_v2_STEP5_Straight/.DS_Store
deleted file mode 100644
index 654deadbbc7d7ad8724b3deb508134c24373068e..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6148
zcmeHKJxc>Y5Pcg121H0HR{IMC1skg)B!!(2do>r)K*&i*the?j`e*dbhnnD}uo00N
z*m;xLnYp<K*}Vaf2J7i5&<D`t5=>&Wh`3v~Iv%`7Oj=`!CDwSt3MVav{-R5IKg0|R
z_I%Iozxo$nb2)G7$-J2`iWGHf;>DW_?PI>{3^f|u;2CGsV_ai|E1avnV!b;?Jm66|
z*;VspqvpQ$upooGqF*<n*+fV%5DWwZ!9XzZBL;Y9i}Vf*Lk9!FKrryhfSeDROR#b*
zhI({R=?FmV(yc;UW(mp3j+J9E<PIfSD$!Dtj~L0)>CYZlITk}pNAlq#`IA3}m!wZ;
z{jA|gm0{>$AQ;$YKxSV`U+(`A|1zyZzJ`Pf27-bA%0TK4$HM{N&hOT5?<sd}=DOt)
rk+>oTh4$7*0Ds6ia-^HKpT%Ze<yZ`*iug617#{*kNT^`o7Z`X4%E?0u

diff --git a/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino b/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino
index ad86fe3..a88017f 100644
--- a/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino
+++ b/pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino
@@ -113,19 +113,19 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(1000000);  //1us
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
   timerAttachInterrupt(g_timer0, &onTimer0);
-  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us = 1000us(1kHz)
   timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2000000);  //0.5us
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
   timerAttachInterrupt(g_timer2, isrR);
-  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
   timerStart(g_timer2);
 
-  g_timer3 = timerBegin(2000000);  //0.5us
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
   timerAttachInterrupt(g_timer3, &isrL);
-  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
   timerStart(g_timer3);
 }
 
diff --git a/pico_v2_STEP6_rotate/.DS_Store b/pico_v2_STEP6_rotate/.DS_Store
deleted file mode 100644
index 1c047a4dacdebca89adfc5f8488b58a4e3827085..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6148
zcmeHK!Ab)`41H+}7Oc=?kMjiuJ$N2Ud+;XIqoB5WD3q=&t>^tP|4m;q5x2M=yog8w
zGcU~~nVAQjYyimY@OTc40Sq}5MU@UwbLUdeo%=+w95rej@QgjC9f|&;NzZ<U4R$>9
z6HotnezjFs+iJbqRx5guqTVU-_05I)gm>LwjS6>o!3F0fZm_^LE~(eF@9|)nr?y8&
zJ{h(0o!I_6viHsIa@+Fe0YZX-U?3O>27-YfGr*dyGSsRT5)1?b!9be<eIF8sVs>l_
z+S9?wS^(mJW)te#OK41T%#KY#u27_e5=*Ffiy<YP_T+xqu_;)>A>Mq5@BGoci0#h&
z$=o5iV9dclFmTL(_P&&{*8c_nGM!Dnxx^F<1Oxw-0U6Af^BHgFwe`zAwbmw%dkz)#
qYgD07Kl%vZ4}C`_wpiAa>h#NwO+n3~b_*xQhky|hQ!wxg47>w@&_L4w

diff --git a/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino b/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino
index 17bb53a..ec50ea3 100644
--- a/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino
+++ b/pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino
@@ -122,19 +122,19 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(1000000);  //1us
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
   timerAttachInterrupt(g_timer0, &onTimer0);
-  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us = 1000us(1kHz)
   timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2000000);  //0.5us
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
   timerAttachInterrupt(g_timer2, &isrR);
-  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5 = 6666us(150Hz)
   timerStart(g_timer2);
 
-  g_timer3 = timerBegin(2000000);  //0.5us
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
   timerAttachInterrupt(g_timer3, &isrL);
-  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
   timerStart(g_timer3);
 }
 
diff --git a/pico_v2_STEP7_P_control/.DS_Store b/pico_v2_STEP7_P_control/.DS_Store
deleted file mode 100644
index c31a80ccf4644f2678de1f794eb26e8666558c7b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6148
zcmeHK!Ab)`41Ljp1rd4_yv!E}dhxoH_Tb4vy(_If6qc?m*7N+4KjZ(@mq}JBZVz5W
zB!S7xW|Hj8gPqv`kn#5E3K#(xawv)#J)-X3sUr_QCQ7N%qQw@^c)?{)p}*+TwVz>)
z4cENl>c7^nzUH=WmW#SsFp3n(JMnGjLi>VyU1Ny`4|v5j^&Iz@Vul;qGY*~8+AXmr
zD~GCfMR%-vQdY4!94&WUIHN;?fnXpQ2nK?IpE1BYTV;4^7&;gT27-Z42K0PL9Ez1=
zHY`U6RcQf;1G<aQ)?Pw$l4IqV4LL&*OC?&Wc#9#HPJi;a$}t;SI>eg~@i%wPi<Gys
zek$RR$}n^=5De@ypuI0;r1$@npG<F)UqV6!1Hr(5Wk3d#`DD!9`Q7?$pL*9Ojz<m^
rjmv6KXz%?5@IlX!^D=4kNo~eej@eMFsK2BW<42$n5-J$@1qMC<V){iW

diff --git a/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino b/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino
index b0044f9..f53f6e8 100644
--- a/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino
+++ b/pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino
@@ -182,9 +182,9 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer0 = timerBegin(1000000);  //1us
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
   timerAttachInterrupt(g_timer0, &onTimer0);
-  timerAlarm(g_timer0, 1000, true, 0);  //1kHz
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us = 1000us(1kHz)
   timerStart(g_timer0);
 
   g_timer1 = timerBegin(1000000);
@@ -192,14 +192,14 @@ void setup()
   timerAlarm(g_timer1, 500, true, 0);
   timerStart(g_timer1);
 
-  g_timer2 = timerBegin(2000000);  //0.5us
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
   timerAttachInterrupt(g_timer2, &isrR);
-  timerAlarm(g_timer2, 13333, true, 0);  //150Hz
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
   timerStart(g_timer2);
 
-  g_timer3 = timerBegin(2000000);  //0.5us
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
   timerAttachInterrupt(g_timer3, &isrL);
-  timerAlarm(g_timer3, 13333, true, 0);  //150Hz
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
   timerStart(g_timer3);
 
   g_sen_r.ref = REF_SEN_R;
diff --git a/pico_v2_STEP8_micromouse/.DS_Store b/pico_v2_STEP8_micromouse/.DS_Store
deleted file mode 100644
index df27090ac28f0b9e6a0686d2785b1ff243e0c551..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6148
zcmeHK%TB{E5FCd}L`6J~96-t!RDu)7fB>ntO63l;w56yol@^Ix?)(G4z}N6GoXYIl
zlsvBpfwx*uV(-M>abnj1%-Qnp2-pJ<(gkaE79}R_;spy_%?{D%Gaj)(14B$OEkyeY
zuYgzJw<#dsZXLI{!vmH`eZS4owA&d?J8b9T5Cp5$szq00T}Va`PyE)q#0KuO@pxlQ
zV;wDhWaD*>$a2hKjuWEKkyVb#yyW7yb>&%bJahh*n0>ECxt=}>%rSeK;TnPy`aqvj
z$SWA+n7hg-W0qtXyyw^<*+XX7{aQ7%<HRZBUsEb>G5(oZJ#(x*RkUBBeU>$2Msxa@
zEUQl;GgUv$I$$3%yHl$2gkzR%T;T#OoTyIHHfQUYE^m&!1tmG_ETx~jsdF=_h?bd2
zN7wbqGWss=%Q-qHSx%dyY~qr?b_GXfBF*9LzccRHV&RrWUwQ?+0$zc&0<u0tbivqR
zVo{e47J39A)>y5^YdK2@Cvq4&Of0g6W-OIxsm2{KjHR<aa&fW4#G<9cxWk8WJsWpI
zG1@zyA89yDY|)oq0k1$-fem}RC;R_J_4z+b@^@YVufU&Dz|_v$=VwgG?X896WUr0r
rH*_(HODrmdh1-txLbl?4x*FRexgf?46N{{&`9A_GgD<=SKdQhd@(teu

diff --git a/pico_v2_STEP8_micromouse/device.h b/pico_v2_STEP8_micromouse/device.h
index 37485e8..0e729f9 100644
--- a/pico_v2_STEP8_micromouse/device.h
+++ b/pico_v2_STEP8_micromouse/device.h
@@ -33,6 +33,4 @@
 //#define SW_CM 2
 #define SW_RM 4
 
-
-
 #endif  // DEVICE_H_
\ No newline at end of file