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Marco's Hexa Motors

This commit is contained in:
Jason Short 2012-02-22 09:55:22 -08:00
parent eaa29d5e3b
commit 4483f19f85
1 changed files with 53 additions and 35 deletions
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88
ArduCopter/motors_hexa.pde
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@ -167,53 +167,71 @@ static void output_motor_test()
motor_out[MOT_5] = g.rc_3.radio_min; motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min; motor_out[MOT_6] = g.rc_3.radio_min;
bool right = (g.rc_1.control_in > 3000);
bool left = (g.rc_1.control_in < -3000);
bool front = (g.rc_2.control_in < -3000);
bool back = (g.rc_2.control_in > 3000);
if(g.frame_orientation == X_FRAME){ if(g.frame_orientation == X_FRAME){
if(right && !(front || back)) APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
motor_out[MOT_1] += 150; // Right delay(4000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(300);
if(left && !(front || back)) APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
motor_out[MOT_2] += 150; // Left delay(2000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(300);
if(back){ APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
if(left) delay(2000);
motor_out[MOT_6] += 150; APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
if(right) delay(300);
motor_out[MOT_4] += 150;
} APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(300);
if(front){
if(left)
motor_out[MOT_3] += 150;
if(right)
motor_out[MOT_5] += 150;
} }
} else { /* PLUS_FRAME */ } else { /* PLUS_FRAME */
if(front && !(left || right)) APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
motor_out[MOT_1] += 150; delay(4000);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
delay(300);
if(back && !(left || right)) APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
motor_out[MOT_2] += 150; delay(2000);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
delay(300);
if(left){ APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
if(front) delay(2000);
motor_out[MOT_5] += 150; APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
if(back) delay(300);
motor_out[MOT_3] += 150;
}
if(right){ APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
if(front) delay(2000);
motor_out[MOT_4] += 150; APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
if(back) delay(300);
motor_out[MOT_6] += 150;
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
delay(300);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
delay(2000);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
delay(300);
} }
} }