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RC_Channel: update examples for new rc() method

This commit is contained in:
Peter Barker 2018-04-27 18:01:18 +10:00 committed by Randy Mackay
parent e2b31a535c
commit 5df70cf93a
1 changed files with 112 additions and 21 deletions
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133
libraries/RC_Channel/examples/RC_Channel/RC_Channel.cpp
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@ -13,8 +13,100 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define NUM_CHANNELS 8
static RC_Channels rc_channels;
static RC_Channel *rc;
class RC_Channel_Example : public RC_Channel
{
};
class RC_Channels_Example : public RC_Channels
{
public:
RC_Channel_Example obj_channels[NUM_RC_CHANNELS];
RC_Channel_Example *channel(const uint8_t chan) override {
if (chan > NUM_RC_CHANNELS) {
return nullptr;
}
return &obj_channels[chan];
}
protected:
int8_t flight_mode_channel_number() const { return 5; }
private:
};
const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @Group: 1_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_Channels_Example, RC_Channel_Example),
// @Group: 2_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_Channels_Example, RC_Channel_Example),
// @Group: 3_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_Channels_Example, RC_Channel_Example),
// @Group: 4_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_Channels_Example, RC_Channel_Example),
// @Group: 5_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_Channels_Example, RC_Channel_Example),
// @Group: 6_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_Channels_Example, RC_Channel_Example),
// @Group: 7_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_Channels_Example, RC_Channel_Example),
// @Group: 8_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_Channels_Example, RC_Channel_Example),
// @Group: 9_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_Channels_Example, RC_Channel_Example),
// @Group: 10_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels_Example, RC_Channel_Example),
// @Group: 11_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels_Example, RC_Channel_Example),
// @Group: 12_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels_Example, RC_Channel_Example),
// @Group: 13_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels_Example, RC_Channel_Example),
// @Group: 14_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels_Example, RC_Channel_Example),
// @Group: 15_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels_Example, RC_Channel_Example),
// @Group: 16_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels_Example, RC_Channel_Example),
AP_GROUPEND
};
static RC_Channels_Example rc_channels;
static void print_pwm(void);
static void print_radio_values();
@ -24,34 +116,33 @@ void setup()
{
hal.console->printf("ArduPilot RC Channel test\n");
rc = RC_Channels::rc_channel(CH_1);
print_radio_values();
// set type of output, symmetrical angles or a number range;
rc[CH_1].set_angle(4500);
rc[CH_1].set_default_dead_zone(80);
rc().channel(CH_1)->set_angle(4500);
rc().channel(CH_1)->set_default_dead_zone(80);
rc[CH_2].set_angle(4500);
rc[CH_2].set_default_dead_zone(80);
rc().channel(CH_2)->set_angle(4500);
rc().channel(CH_2)->set_default_dead_zone(80);
rc[CH_3].set_range(1000);
rc[CH_3].set_default_dead_zone(20);
rc().channel(CH_3)->set_range(1000);
rc().channel(CH_3)->set_default_dead_zone(20);
rc[CH_4].set_angle(6000);
rc[CH_4].set_default_dead_zone(500);
rc().channel(CH_4)->set_angle(6000);
rc().channel(CH_4)->set_default_dead_zone(500);
rc[CH_5].set_range(1000);
rc[CH_6].set_range(800);
rc().channel(CH_5)->set_range(1000);
rc[CH_7].set_range(1000);
rc().channel(CH_6)->set_range(800);
rc[CH_8].set_range(1000);
rc().channel(CH_7)->set_range(1000);
rc().channel(CH_8)->set_range(1000);
}
void loop()
{
RC_Channels::read_input();
rc().read_input();
print_pwm();
hal.scheduler->delay(20);
@ -60,7 +151,7 @@ void loop()
static void print_pwm(void)
{
for (int i=0; i<NUM_CHANNELS; i++) {
hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].get_control_in());
hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc().channel(i)->get_control_in());
}
hal.console->printf("\n");
}
@ -70,9 +161,9 @@ static void print_radio_values()
{
for (int i=0; i<NUM_CHANNELS; i++) {
hal.console->printf("CH%u: %u|%u\n",
(unsigned)i+1,
(unsigned)rc[i].get_radio_min(),
(unsigned)rc[i].get_radio_max());
(unsigned)i+1,
(unsigned)rc().channel(i)->get_radio_min(),
(unsigned)rc().channel(i)->get_radio_max());
}
}