Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

RC_Channel: simplify the example 

use an array of channels
This commit is contained in:
Andrew Tridgell 2012-10-16 15:50:54 +11:00
parent 86b509a609
commit 5642922ca7
1 changed files with 28 additions and 118 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

146
libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
View File

@ -60,6 +60,7 @@ RC_Channel rc_5(CH_5);
RC_Channel rc_6(CH_6);
RC_Channel rc_7(CH_7);
RC_Channel rc_8(CH_8);
RC_Channel *rc = &rc_1;
void setup()
{
@ -72,33 +73,6 @@ void setup()
// setup radio
// read eepom or set manually
/*
* rc_1.radio_min = 1100;
* rc_1.radio_max = 1900;
*
* rc_2.radio_min = 1100;
* rc_2.radio_max = 1900;
*
* rc_3.radio_min = 1100;
* rc_3.radio_max = 1900;
*
* rc_4.radio_min = 1100;
* rc_4.radio_max = 1900;
*
* // or
*
* rc_1.load_eeprom();
* rc_2.load_eeprom();
* rc_3.load_eeprom();
* rc_4.load_eeprom();
* rc_5.load_eeprom();
* rc_6.load_eeprom();
* rc_7.load_eeprom();
* rc_8.load_eeprom();
*
*/
// interactive setup
setup_radio();
@ -120,6 +94,12 @@ void setup()
rc_7.set_range(0,1000);
rc_8.set_range(0,1000);
#if 0
for (byte i=0; i<8; i++) {
rc[i].set_reverse(false);
}
#endif
for (byte i = 0; i < 30; i++) {
read_radio();
}
@ -138,79 +118,28 @@ void loop()
void read_radio()
{
rc_1.set_pwm(APM_RC.InputCh(CH_1));
rc_2.set_pwm(APM_RC.InputCh(CH_2));
rc_3.set_pwm(APM_RC.InputCh(CH_3));
rc_4.set_pwm(APM_RC.InputCh(CH_4));
rc_5.set_pwm(APM_RC.InputCh(CH_5));
rc_6.set_pwm(APM_RC.InputCh(CH_6));
rc_7.set_pwm(APM_RC.InputCh(CH_7));
rc_8.set_pwm(APM_RC.InputCh(CH_8));
//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in);
for (byte i=0; i<8; i++) {
rc[i].set_pwm(APM_RC.InputCh(CH_1+i));
}
}
void print_pwm()
{
Serial.print("ch1 ");
Serial.print(rc_1.control_in, DEC);
Serial.print("\tch2: ");
Serial.print(rc_2.control_in, DEC);
Serial.print("\tch3 :");
Serial.print(rc_3.control_in, DEC);
Serial.print("\tch4 :");
Serial.print(rc_4.control_in, DEC);
Serial.print("\tch5 :");
Serial.print(rc_5.control_in, DEC);
Serial.print("\tch6 :");
Serial.print(rc_6.control_in, DEC);
Serial.print("\tch7 :");
Serial.print(rc_7.control_in, DEC);
Serial.print("\tch8 :");
Serial.println(rc_8.control_in, DEC);
for (byte i=0; i<8; i++) {
Serial.printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].control_in);
}
Serial.printf("\n");
}
void
print_radio_values()
{
Serial.print("CH1: ");
Serial.print(rc_1.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_1.radio_max, DEC);
Serial.print("CH2: ");
Serial.print(rc_2.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_2.radio_max, DEC);
Serial.print("CH3: ");
Serial.print(rc_3.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_3.radio_max, DEC);
Serial.print("CH4: ");
Serial.print(rc_4.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_4.radio_max, DEC);
Serial.print("CH5: ");
Serial.print(rc_5.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_5.radio_max, DEC);
Serial.print("CH6: ");
Serial.print(rc_6.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_6.radio_max, DEC);
Serial.print("CH7: ");
Serial.print(rc_7.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_7.radio_max, DEC);
Serial.print("CH8: ");
Serial.print(rc_8.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_8.radio_max, DEC);
for (byte i=0; i<8; i++) {
Serial.printf("CH%u: %u|%u\n",
(unsigned)i+1,
(unsigned)rc[i].radio_min,
(unsigned)rc[i].radio_max);
}
}
@ -218,30 +147,16 @@ void
setup_radio()
{
Serial.println("\n\nRadio Setup:");
uint8_t i;
for(i = 0; i < 100; i++) {
for (byte i = 0; i < 100; i++) {
delay(20);
read_radio();
}
rc_1.radio_min = rc_1.radio_in;
rc_2.radio_min = rc_2.radio_in;
rc_3.radio_min = rc_3.radio_in;
rc_4.radio_min = rc_4.radio_in;
rc_5.radio_min = rc_5.radio_in;
rc_6.radio_min = rc_6.radio_in;
rc_7.radio_min = rc_7.radio_in;
rc_8.radio_min = rc_8.radio_in;
rc_1.radio_max = rc_1.radio_in;
rc_2.radio_max = rc_2.radio_in;
rc_3.radio_max = rc_3.radio_in;
rc_4.radio_max = rc_4.radio_in;
rc_5.radio_max = rc_5.radio_in;
rc_6.radio_max = rc_6.radio_in;
rc_7.radio_max = rc_7.radio_in;
rc_8.radio_max = rc_8.radio_in;
for (byte i=0; i<8; i++) {
rc[i].radio_min = rc[i].radio_in;
rc[i].radio_max = rc[i].radio_in;
}
rc_1.radio_trim = rc_1.radio_in;
rc_2.radio_trim = rc_2.radio_in;
@ -260,14 +175,9 @@ setup_radio()
// ----------------------------------------------------------
read_radio();
rc_1.update_min_max();
rc_2.update_min_max();
rc_3.update_min_max();
rc_4.update_min_max();
rc_5.update_min_max();
rc_6.update_min_max();
rc_7.update_min_max();
rc_8.update_min_max();
for (byte i=0; i<8; i++) {
rc[i].update_min_max();
}
if(Serial.available() > 0) {
//rc_3.radio_max += 250;