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Ardupilot Hardware RC Library for the 328 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@280 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-08-23 21:34:30 +00:00
parent 6215ad2471
commit 61179ba90f
2 changed files with 0 additions and 79 deletions
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31
libraries/APM_RC/examples/APM_radio/APM_radio.pde
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/*
Example of APM_RC library.
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
Print Input values and send Output to the servos
(Works with last PPM_encoder firmware)
*/
#include <APM_RC.h> // ArduPilot Mega RC Library
void setup()
{
APM_RC.Init(); // APM Radio initialization
Serial.begin(57600);
Serial.println("ArduPilot Mega RC library test");
delay(1000);
}
void loop()
{
if (APM_RC.GetState()==1) // New radio frame? (we could use also if((millis()- timer) > 20)
{
Serial.print("CH:");
for(int i=0;i<8;i++)
{
Serial.print(APM_RC.InputCh(i)); // Print channel values
Serial.print(",");
APM_RC.OutputCh(i,APM_RC.InputCh(i)); // Copy input to Servos
}
Serial.println();
}
}

48
libraries/APM_RC/examples/APM_radio/AP_radio.pde
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/*
Example of AP_RC library.
Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
Print Input values and send Output to the servos
(Works with last PPM_encoder firmware)
*/
#include <AP_RC.h> // ArduPilot Mega RC Library
AP_RC rc;
#define CH_ROLL 0
#define CH_PITCH 1
#define CH_THROTTLE 2
#define CH_RUDDER 3
void setup()
{
Serial.begin(38400);
Serial.println("ArduPilot RC library test");
int trims[] = {1500,1500,1200,1500};
rc.init(trims);
delay(1000);
}
void loop()
{
delay(20);
rc.read_pwm();
for(int y=0; y<4; y++) {
rc.set_ch_pwm(y, rc.input[y]); // send to Servos
}
print_pwm();
}
void print_pwm()
{
Serial.print("ch1 ");
Serial.print(rc.input[CH_ROLL],DEC);
Serial.print("\tch2: ");
Serial.print(rc.input[CH_PITCH],DEC);
Serial.print("\tch3 :");
Serial.print(rc.input[CH_THROTTLE],DEC);
Serial.print("\tch4 :");
Serial.println(rc.input[CH_RUDDER],DEC);
}