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RC_Channel.pde: fixed compile errors so that it actually works!

This commit is contained in:
rmackay9 2012-06-02 14:00:44 +09:00
parent df3fb5c041
commit 37e4637c13
1 changed files with 45 additions and 22 deletions
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67
libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
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@ -5,28 +5,51 @@
*/
#include <FastSerial.h>
#include <AP_Common.h> // ArduPilot Mega Common Library
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <RC_Channel.h> // ArduPilot Mega RC Library
// define APM1 or APM2
#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2
#define EE_RADIO_1 0x00 // all gains stored from here
#define EE_RADIO_2 0x06 // all gains stored from here
#define EE_RADIO_3 0x0C // all gains stored from here
#define EE_RADIO_4 0x12 // all gains stored from here
#define EE_RADIO_5 0x18 // all gains stored from here
#define EE_RADIO_6 0x1E // all gains stored from here
#define EE_RADIO_7 0x24 // all gains stored from here
#define EE_RADIO_8 0x2A // all gains stored from here
// set your hardware type here
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
Arduino_Mega_ISR_Registry isr_registry;
RC_Channel rc_1(EE_RADIO_1);
RC_Channel rc_2(EE_RADIO_2);
RC_Channel rc_3(EE_RADIO_3);
RC_Channel rc_4(EE_RADIO_4);
RC_Channel rc_5(EE_RADIO_5);
RC_Channel rc_6(EE_RADIO_6);
RC_Channel rc_7(EE_RADIO_7);
RC_Channel rc_8(EE_RADIO_8);
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
//
// Note that FastSerial port buffers are allocated at ::begin time,
// so there is not much of a penalty to defining ports that we don't
// use.
//
FastSerialPort0(Serial); // FTDI/console
FastSerialPort1(Serial1); // GPS port
FastSerialPort3(Serial3); // Telemetry port
////////////////////////////////////////////
// RC Hardware
////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
#endif
RC_Channel rc_1;
RC_Channel rc_2;
RC_Channel rc_3;
RC_Channel rc_4;
RC_Channel rc_5;
RC_Channel rc_6;
RC_Channel rc_7;
RC_Channel rc_8;
#define CH_1 0
#define CH_2 1
@ -39,9 +62,9 @@ RC_Channel rc_8(EE_RADIO_8);
void setup()
{
Serial.begin(38400);
Serial.begin(115200);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
APM_RC.Init( &isr_registry ); // APM Radio initialization
delay(500);
@ -82,14 +105,14 @@ void setup()
// set type of output, symmetrical angles or a number range;
rc_1.set_angle(4500);
rc_1.dead_zone = 80;
rc_1.set_dead_zone(80);
rc_2.set_angle(4500);
rc_2.dead_zone = 80;
rc_2.set_dead_zone(80);
rc_3.set_range(0,1000);
rc_3.dead_zone = 20;
rc_3.set_dead_zone(20);
rc_3.scale_output = .8; // gives more dynamic range to quads
rc_4.set_angle(6000);
rc_4.dead_zone = 500;
rc_4.set_dead_zone(500);
rc_5.set_range(0,1000);
rc_5.set_filter(false);
rc_6.set_range(200,800);