ESP32: LEDC PWM or MCPWM when doing simple motor speed control?

[roleroz]

Hi all

I'm using an ESP32 to control a mecanum wheel chassis, and for that I need to control the speed of the 4 motors (each connected to one of the wheels). I'm using Toshiba's TC78H620FNG as an H-Bridge to control each motor (2 motors per IC), and 2 GPIO pins per motor (direction + enable). The plan is to have the direction (PHA_x) pin directly set with digitalWrite(), and use PWM on the enable pin to control speed. I have no feedback signal from the motors

I see that I have 2 ways of doing PWM in ESP32, and in case this is important I'm using the ESP32-S3, I can go with the LEDC PWM or the MCPWM modules:
- The LEDC PWM module seems simpler to use, is the most widely used system out there to control motors, and according to the data sheet is used to control LEDs and "other uses", whatever that means
- MCPWM is harder to use, and has fewer examples out there, but it's specifically designed to control motors

What would I be missing if I used LEDC PWM instead of MCPWM for this application?

My motors are currently 6V 250mA, but I foresee them potentially growing up to 12V 1A in the future, but that is handled by the H-Bridge, not the ESP32. I do have separate power rails for motors and the electronics

[ArdWar]

LEDC outputs a single PWM signal. You can use this if you use motor control IC with its own dead time generation.
MCPWM outputs two (or more) PWM signal with matched phases, programmable dead time, etc. Use this if you want to directly control the switch timing of each MOSFET in a half bridge for example.

[roleroz]

It works, thanks