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uncrustify libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde

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uncrustify 2012-08-16 23:20:26 -07:00 committed by Pat Hickey
parent 087b2f99c7
commit 2712e5357d
1 changed files with 42 additions and 42 deletions
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84
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde
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@ -1,7 +1,7 @@
/* /*
Example of AP_Motors library. * Example of AP_Motors library.
Code by Randy Mackay. DIYDrones.com * Code by Randy Mackay. DIYDrones.com
*/ */
// AVR runtime // AVR runtime
#include <avr/io.h> #include <avr/io.h>
@ -46,7 +46,7 @@ RC_Channel rc1, rc2, rc3, rc4;
// uncomment the row below depending upon what frame you are using // uncomment the row below depending upon what frame you are using
//AP_MotorsTri motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4); //AP_MotorsTri motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4);
AP_MotorsQuad motors(AP_MOTORS_APM2, &APM_RC, &rc1, &rc2, &rc3, &rc4); AP_MotorsQuad motors(AP_MOTORS_APM2, &APM_RC, &rc1, &rc2, &rc3, &rc4);
//AP_MotorsHexa motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4); //AP_MotorsHexa motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4);
//AP_MotorsY6 motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4); //AP_MotorsY6 motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4);
//AP_MotorsOcta motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4); //AP_MotorsOcta motors(AP_MOTORS_APM1, &APM_RC, &rc1, &rc2, &rc3, &rc4);
@ -56,59 +56,59 @@ AP_MotorsQuad motors(AP_MOTORS_APM2, &APM_RC, &rc1, &rc2, &rc3, &rc4);
// setup // setup
void setup() void setup()
{ {
Serial.begin(115200); Serial.begin(115200);
Serial.println("AP_Motors library test ver 1.0"); Serial.println("AP_Motors library test ver 1.0");
RC_Channel::set_apm_rc(&APM_RC); RC_Channel::set_apm_rc(&APM_RC);
APM_RC.Init( &isr_registry ); // APM Radio initialization APM_RC.Init( &isr_registry ); // APM Radio initialization
// motor initialisation // motor initialisation
motors.set_update_rate(490); motors.set_update_rate(490);
motors.set_frame_orientation(AP_MOTORS_X_FRAME); motors.set_frame_orientation(AP_MOTORS_X_FRAME);
motors.set_min_throttle(130); motors.set_min_throttle(130);
motors.set_max_throttle(850); motors.set_max_throttle(850);
motors.Init(); // initialise motors motors.Init(); // initialise motors
motors.enable(); motors.enable();
motors.output_min(); motors.output_min();
delay(1000); delay(1000);
} }
// loop // loop
void loop() void loop()
{ {
int value; int value;
// display help // display help
Serial.println("Press 't' to test motors. Becareful they will spin!"); Serial.println("Press 't' to test motors. Becareful they will spin!");
// wait for user to enter something // wait for user to enter something
while( !Serial.available() ) { while( !Serial.available() ) {
delay(20); delay(20);
} }
// get character from user
value = Serial.read();
// test motors // get character from user
if( value == 't' || value == 'T' ) { value = Serial.read();
Serial.println("testing motors...");
motors.armed(true); // test motors
motors.output_test(); if( value == 't' || value == 'T' ) {
motors.armed(false); Serial.println("testing motors...");
Serial.println("finished test."); motors.armed(true);
} motors.output_test();
motors.armed(false);
Serial.println("finished test.");
}
} }
// print motor output // print motor output
void print_motor_output() void print_motor_output()
{ {
int8_t i; int8_t i;
for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) { for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if( motors.motor_enabled[i] ) { if( motors.motor_enabled[i] ) {
Serial.printf("\t%d %d",i,motors.motor_out[i]); Serial.printf("\t%d %d",i,motors.motor_out[i]);
} }
} }
} }