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AP_RcChannel demos updated for AP_Var. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1632 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2011-02-13 01:24:32 +00:00
parent 6728355889
commit 253307e2f0
4 changed files with 157 additions and 107 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_RcChannel/AP_RcChannel.cpp
View File

@ -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")),
center(this,2,ch,PSTR("CENTER")),
scale(this,1,scale,PSTR("SCALE")),
center(this,2,center,PSTR("CENTER")),
pwmMin(this,3,pwmMin,PSTR("PMIN")),
pwmMax(this,4,pwmMax,PSTR("PMAX")),
pwmNeutral(this,5,pwmNeutral,PSTR("PNTRL")),

3
libraries/AP_RcChannel/AP_RcChannel.h
View File

@ -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); }

111
libraries/AP_RcChannel/examples/Manual/Manual.pde
View File

@ -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
AP_RcChannel rcCh[] =
class RadioTest
{
AP_RcChannel("ROLL",APM_RC,0,45),
AP_RcChannel("PITCH",APM_RC,1,45),
AP_RcChannel("THR",APM_RC,2,100),
AP_RcChannel("YAW",APM_RC,3,45),
AP_RcChannel("CH5",APM_RC,4,1),
AP_RcChannel("CH6",APM_RC,5,1),
AP_RcChannel("CH7",APM_RC,6,1),
AP_RcChannel("CH8",APM_RC,7,1)
private:
float testPosition;
int8_t testSign;
enum
{
version,
rollKey,
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
float testPosition = 2;
int8_t testSign = 1;
RadioTest * test;
void setup()
{
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
//eepromRegistry.print(Serial); // show eeprom map
test = new RadioTest;
}
void loop()
{
// read the radio
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);
test->update();
}

144
libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
View File

@ -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
AP_RcChannel rcCh[] =
class RadioTest
{
AP_RcChannel("ROLL",APM_RC,0,45),
AP_RcChannel("PITCH",APM_RC,1,45),
AP_RcChannel("THR",APM_RC,2,100),
AP_RcChannel("YAW",APM_RC,3,45),
AP_RcChannel("CH5",APM_RC,4,1),
AP_RcChannel("CH6",APM_RC,5,1),
AP_RcChannel("CH7",APM_RC,6,1),
AP_RcChannel("CH8",APM_RC,7,1)
private:
float testPosition;
int8_t testSign;
enum
{
version,
rollKey,
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
float testPosition = 2;
int8_t testSign = 1;
RadioTest * test;
void setup()
{
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000);
test = new RadioTest;
}
void loop()
{
// 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<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);
test->update();
}