AP_RcChannel demos updated for AP_Var.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1632 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_RcChannel/AP_RcChannel.cpp

@@ -14,7 +14,7 @@
 #include "AP_RcChannel.h"
 #include <AP_Common.h>
 
-AP_RcChannel::AP_RcChannel(AP_Var::Key & key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
+AP_RcChannel::AP_RcChannel(AP_Var::Key key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
 			const float & scale, const float & center, 
 			const uint16_t & pwmMin, 
 			const uint16_t & pwmNeutral, const uint16_t & pwmMax,
@@ -23,8 +23,8 @@ AP_RcChannel::AP_RcChannel(AP_Var::Key & key, const prog_char * name, APM_RC_Cla
 		AP_Var_group(key,name),
 		_rc(rc),
 		ch(this,0,ch,PSTR("CH")),
-		scale(this,1,ch,PSTR("SCALE")),
+		scale(this,1,scale,PSTR("SCALE")),
-		center(this,2,ch,PSTR("CENTER")),
+		center(this,2,center,PSTR("CENTER")),
 		pwmMin(this,3,pwmMin,PSTR("PMIN")),
 		pwmMax(this,4,pwmMax,PSTR("PMAX")),
 		pwmNeutral(this,5,pwmNeutral,PSTR("PNTRL")),

libraries/AP_RcChannel/AP_RcChannel.h

@@ -18,7 +18,7 @@ class AP_RcChannel : public AP_Var_group {
 public:	
 
 	/// Constructor
-	AP_RcChannel(AP_Var::Key & key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
+	AP_RcChannel(AP_Var::Key key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
 			const float & scale=45.0, const float & center=0.0, 
 			const uint16_t & pwmMin=1200, 
 			const uint16_t & pwmNeutral=1500, const uint16_t & pwmMax=1800,
@@ -47,7 +47,6 @@ public:
 	uint16_t getPwm() { return _pwm; }
 	float getPosition() { return _pwmToPosition(_pwm); }
 	float getNormalized() { return getPosition()/scale; }
-	const char * getName() { return _name; }
 
 	// did our read come in 50µs below the min?
 	bool failSafe() { _pwm < (pwmMin - 50); }

libraries/AP_RcChannel/examples/Manual/Manual.pde

@@ -9,61 +9,86 @@
 #include <AP_Common.h>
 #include <AP_RcChannel.h> 	// ArduPilot Mega RC Library
 #include <APM_RC.h>
+#include <AP_Vector.h>
 
-FastSerialPort0(Serial); // make sure this procees variable declarations
+FastSerialPort0(Serial); // make sure this proceeds variable declarations
 
 // test settings
-uint8_t nChannels = 8;
 
-// channel configuration
+class RadioTest
-AP_RcChannel rcCh[] = 
 {
-	AP_RcChannel("ROLL",APM_RC,0,45),
+private:
-	AP_RcChannel("PITCH",APM_RC,1,45),
+	float testPosition;
-	AP_RcChannel("THR",APM_RC,2,100),
+	int8_t testSign;
-	AP_RcChannel("YAW",APM_RC,3,45),
+	enum
-	AP_RcChannel("CH5",APM_RC,4,1),
+	{
-	AP_RcChannel("CH6",APM_RC,5,1),
+		version,
-	AP_RcChannel("CH7",APM_RC,6,1),
+		rollKey,
-	AP_RcChannel("CH8",APM_RC,7,1)
+		pitchKey,
+		thrKey,
+		yawKey,
+		ch5Key,
+		ch6Key,
+		ch7Key,
+		ch8Key
+	};
+	Vector<AP_RcChannel *> ch;
+public:
+	RadioTest() :  testPosition(2), testSign(1)
+	{
+		ch.push_back(new AP_RcChannel(rollKey,PSTR("ROLL"),APM_RC,1,45));
+		ch.push_back(new AP_RcChannel(pitchKey,PSTR("PITCH"),APM_RC,2,45));
+		ch.push_back(new AP_RcChannel(thrKey,PSTR("THR"),APM_RC,3,100));
+		ch.push_back(new AP_RcChannel(yawKey,PSTR("YAW"),APM_RC,4,45));
+		ch.push_back(new AP_RcChannel(ch5Key,PSTR("CH5"),APM_RC,5,1));
+		ch.push_back(new AP_RcChannel(ch6Key,PSTR("CH6"),APM_RC,6,1));
+		ch.push_back(new AP_RcChannel(ch7Key,PSTR("CH7"),APM_RC,7,1));
+		ch.push_back(new AP_RcChannel(ch8Key,PSTR("CH8"),APM_RC,8,1));
+
+		Serial.begin(115200);
+		delay(2000);
+		Serial.println("ArduPilot RC Channel test");
+		APM_RC.Init();		// APM Radio initialization
+		delay(2000);
+	}
+
+	void update()
+	{
+		// read the radio 
+		for (int i=0;i<ch.getSize();i++) ch[i]->readRadio();
+
+		// print channel names
+		Serial.print("\t\t");
+		static char name[7];
+		for (int i=0;i<ch.getSize();i++)
+		{
+			ch[i]->copy_name(name,7);
+			Serial.printf("%7s\t",name);
+		}
+		Serial.println();
+
+		// print pwm
+		Serial.printf("pwm      :\t");
+		for (int i=0;i<ch.getSize();i++) Serial.printf("%7d\t",ch[i]->getPwm());
+		Serial.println();
+
+		// print position
+		Serial.printf("position :\t");
+		for (int i=0;i<ch.getSize();i++) Serial.printf("%7.2f\t",ch[i]->getPosition());
+		Serial.println();
+
+		delay(500);
+	}
 };
 
-// test position
+RadioTest * test;
-float testPosition = 2;
-int8_t testSign = 1;
 
 void setup()
 {
-	Serial.begin(115200);
+	test = new RadioTest;
-	delay(2000);
-
-	Serial.println("ArduPilot RC Channel test");
-
-	APM_RC.Init();		// APM Radio initialization
-
-	delay(2000);
-	//eepromRegistry.print(Serial); // show eeprom map
 }
 
 void loop()	
 {
-	// read the radio 
+	test->update();
-	for (int i=0;i<nChannels;i++) rcCh[i].readRadio();
-
-	// print channel names
-	Serial.print("\n\t\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
-	Serial.println();
-
-	// print pwm
-	Serial.printf("pwm      :\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rcCh[i].getPwm());
-	Serial.println();
-
-	// print position
-	Serial.printf("position :\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
-	Serial.println();
-
-	delay(500);
 }

libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde

@@ -9,77 +9,103 @@
 #include <AP_Common.h>
 #include <AP_RcChannel.h> 	// ArduPilot Mega RC Library
 #include <APM_RC.h>
+#include <AP_Vector.h>
 
-FastSerialPort0(Serial); // make sure this procees variable declarations
+FastSerialPort0(Serial); // make sure this proceeds variable declarations
 
 // test settings
-uint8_t nChannels = 8;
 
-// channel configuration
+class RadioTest
-AP_RcChannel rcCh[] = 
 {
-	AP_RcChannel("ROLL",APM_RC,0,45),
+private:
-	AP_RcChannel("PITCH",APM_RC,1,45),
+	float testPosition;
-	AP_RcChannel("THR",APM_RC,2,100),
+	int8_t testSign;
-	AP_RcChannel("YAW",APM_RC,3,45),
+	enum
-	AP_RcChannel("CH5",APM_RC,4,1),
+	{
-	AP_RcChannel("CH6",APM_RC,5,1),
+		version,
-	AP_RcChannel("CH7",APM_RC,6,1),
+		rollKey,
-	AP_RcChannel("CH8",APM_RC,7,1)
+		pitchKey,
+		thrKey,
+		yawKey,
+		ch5Key,
+		ch6Key,
+		ch7Key,
+		ch8Key
+	};
+	Vector<AP_RcChannel *> ch;
+public:
+	RadioTest() :  testPosition(2), testSign(1)
+	{
+		ch.push_back(new AP_RcChannel(rollKey,PSTR("ROLL"),APM_RC,1,45));
+		ch.push_back(new AP_RcChannel(pitchKey,PSTR("PITCH"),APM_RC,2,45));
+		ch.push_back(new AP_RcChannel(thrKey,PSTR("THR"),APM_RC,3,100));
+		ch.push_back(new AP_RcChannel(yawKey,PSTR("YAW"),APM_RC,4,45));
+		ch.push_back(new AP_RcChannel(ch5Key,PSTR("CH5"),APM_RC,5,1));
+		ch.push_back(new AP_RcChannel(ch6Key,PSTR("CH6"),APM_RC,6,1));
+		ch.push_back(new AP_RcChannel(ch7Key,PSTR("CH7"),APM_RC,7,1));
+		ch.push_back(new AP_RcChannel(ch8Key,PSTR("CH8"),APM_RC,8,1));
+
+		Serial.begin(115200);
+		delay(2000);
+		Serial.println("ArduPilot RC Channel test");
+		APM_RC.Init();		// APM Radio initialization
+		delay(2000);
+	}
+
+	void update()
+	{
+		// update test value
+		testPosition += testSign*.1;
+		if (testPosition > 1)
+		{
+			//eepromRegistry.print(Serial); // show eeprom map
+			testPosition = 1;
+			testSign = -1;
+		}
+		else if (testPosition < -1)
+		{
+			testPosition = -1;
+			testSign = 1;
+		}
+
+		// set channel positions
+		for (int i=0;i<ch.getSize();i++) ch[i]->setNormalized(testPosition);
+
+		// print test position
+		Serial.printf("\nnormalized position (%f)\n",testPosition);
+
+		// print channel names
+		Serial.print("\t\t");
+		static char name[7];
+		for (int i=0;i<ch.getSize();i++)
+		{
+			ch[i]->copy_name(name,7);
+			Serial.printf("%7s\t",name);
+		}
+		Serial.println();
+
+		// print pwm
+		Serial.printf("pwm      :\t");
+		for (int i=0;i<ch.getSize();i++) Serial.printf("%7d\t",ch[i]->getPwm());
+		Serial.println();
+
+		// print position
+		Serial.printf("position :\t");
+		for (int i=0;i<ch.getSize();i++) Serial.printf("%7.2f\t",ch[i]->getPosition());
+		Serial.println();
+
+		delay(500);
+	}
 };
 
-// test position
+RadioTest * test;
-float testPosition = 2;
-int8_t testSign = 1;
 
 void setup()
 {
-	Serial.begin(115200);
+	test = new RadioTest;
-	delay(2000);
-
-	Serial.println("ArduPilot RC Channel test");
-
-	APM_RC.Init();		// APM Radio initialization
-
-	delay(2000);
 }
 
 void loop()	
 {
-	// update test value
+	test->update();
-	testPosition += testSign*.1;
-	if (testPosition > 1)
-	{
-		//eepromRegistry.print(Serial); // show eeprom map
-		testPosition = 1;
-		testSign = -1;
-	}
-	else if (testPosition < -1)
-	{
-		testPosition = -1;
-		testSign = 1;
-	}
-
-	// set channel positions
-	for (int i=0;i<nChannels;i++) rcCh[i].setNormalized(testPosition);
-
-	// print test position
-	Serial.printf("\nnormalized position (%f)\n",testPosition);
-
-	// print channel names
-	Serial.print("\t\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
-	Serial.println();
-
-	// print pwm
-	Serial.printf("pwm      :\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rcCh[i].getPwm());
-	Serial.println();
-
-	// print position
-	Serial.printf("position :\t");
-	for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
-	Serial.println();
-
-	delay(500);
 }