The latter. The counter gets the pulse timing, and that is translated into RPM. A simple PID in C code sets the PWM duty cycle. A counter is needed to fire the PID periodically. So the system periodically samples, and the PID adjusts duty cycle to keep the loop error low. The PID is implemented as a...

I've done a PID motor controller using the MCPWM. I used only a single encoder output, not quadrature. The capture module in the MCPWM measures the time between pulses, thus providing the feedback to the PID controller. There is a sample project in the ESP-IDF examples folder which illustrates usage...

You have an official WROVER-KIT board and your Windows based OpenOCD script is working with that board?

Regards,
Greg

I have one of these, from Amazon, and it works with the blink example from Espressif:

https://www.amazon.com/gp/product/B00HK ... UTF8&psc=1

I posted the commands for Openocd on this forum recently.

Regards,
Greg

So the JTAG clock speed is changed by editing a file included with OpenOCD: share/openocd/scripts/board/esp32-wrover.cfg Open this file and look for this line: adapter_khz 20000 For example, to change to 10MHz clock: adapter_khz 10000 Save and close the file. Note that there is a different file if y...

Yes, I will do that this evening, as well as command used with the FTDI cable. If I can insert a photo of the connection of cable to development board, will do that as well.

Regards,
Greg

So I ordered an FTDI cable C232HM-DDHSL-0 cable. Using the instructions on the Espressif JTAG pages, I connected to a regular development board with a WROOM module. At first, I was seeing the same problem as with the WROVER kit. But then I changed the clock speed from 20000 to 10000. Now working per...

Tried everything, built from source, different machine, V3.0 ESP-IDF, no luck!

Finally I submitted a ticket here:
https://github.com/espressif/openocd-esp32/issues

Hoping for the best!

Regards,
Greg

The new OpenOCD tar file was released 13 days ago. I must have downloaded the old version the day before the new release! Anyway, thank you for alerting me to the new version! Unfortunately, except for some differences seen in the stdout coming back from OpenOCD, the result is the same. And removing...

Thank you for the suggestion, but it did not work. With or without that line in gdbinit, it never gets to the gdb prompt. I discovered I had an obsolete tool chain and upgraded it. And I tried another machine. Finally, I decreased the JTAG clock to 10MHz. Same result, very consistent each time it ne...