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Updated RcChannel examples.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1346 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-28 23:54:52 +00:00
parent 3af04d124f
commit a537877b4c
3 changed files with 93 additions and 52 deletions
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71
libraries/AP_RcChannel/examples/Manual/ServoSweep.pde → libraries/AP_RcChannel/examples2/Manual.pde
View File

@ -11,9 +11,12 @@
#include <AP_EEProm.h> #include <AP_EEProm.h>
#include <APM_RC.h> #include <APM_RC.h>
FastSerialPort0(Serial); // make sure this procees variable declarations
// test settings // test settings
uint8_t nChannels = 8; uint8_t nChannels = 8;
bool loadFromEEProm = false; bool loadEEProm = false;
bool saveEEProm = false;
// channel configuration // channel configuration
Vector< AP_EEPromVar<float> * > scale; Vector< AP_EEPromVar<float> * > scale;
@ -23,15 +26,7 @@ Vector< AP_EEPromVar<uint16_t> * > pwmMax;
Vector< AP_EEPromVar<uint16_t> * > pwmDeadZone; Vector< AP_EEPromVar<uint16_t> * > pwmDeadZone;
Vector< AP_Var<bool> * > filter; Vector< AP_Var<bool> * > filter;
Vector< AP_Var<bool> * > reverse; Vector< AP_Var<bool> * > reverse;
Vector< AP_RcChannel * > rc ; Vector< AP_RcChannel * > rc;
// test position
float testPosition = 0;
uint16_t testPwm = 1500;
int8_t testSign = 1;
// serial
FastSerialPort0(Serial);
void setup() void setup()
{ {
@ -42,18 +37,34 @@ void setup()
// add channels // add channels
for (int i=0;i<nChannels;i++) for (int i=0;i<nChannels;i++)
{ {
char num[2]; char num[5];
itoa(i,num,10); itoa(i+1,num,10);
Serial.printf("\nInitializing channel %d", i+1);
// initialize eeprom settings // initialize eeprom settings
scale.push_back(new AP_EEPromVar<float>(1.0,strcat("SCALE",num))); scale.push_back(new AP_EEPromVar<float>(1.0,strcat("SCALE",num)));
pwmMin.push_back(new AP_EEPromVar<uint16_t>(1200,strcat("PWM_MIN",num))); pwmMin.push_back(new AP_EEPromVar<uint16_t>(1200,strcat("PWM_MIN",num)));
pwmNeutral.push_back(new AP_EEPromVar<uint16_t>(1500,strcat("PWM_NEUTRAL",num))); pwmNeutral.push_back(new AP_EEPromVar<uint16_t>(1500,strcat("PWM_NEUTRAL",num)));
pwmMax.push_back(new AP_EEPromVar<uint16_t>(1800,strcat("PWM_MAX",num))); pwmMax.push_back(new AP_EEPromVar<uint16_t>(1800,strcat("PWM_MAX",num)));
pwmMax.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",num))); pwmDeadZone.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",num)));
filter.push_back(new AP_EEPromVar<bool>(false,strcat("FILTER",num)));
reverse.push_back(new AP_EEPromVar<bool>(false,strcat("REVERSE",num)));
// save
if (saveEEProm)
{
scale[i]->save();
pwmMin[i]->save();
pwmNeutral[i]->save();
pwmMax[i]->save();
pwmDeadZone[i]->save();
filter[i]->save();
reverse[i]->save();
}
// load // load
if (loadFromEEProm) if (loadEEProm)
{ {
scale[i]->load(); scale[i]->load();
pwmMin[i]->load(); pwmMin[i]->load();
@ -64,24 +75,30 @@ void setup()
reverse[i]->load(); reverse[i]->load();
} }
// add rc channel
rc.push_back(new AP_RcChannel(APM_RC,i,scale[i]->get(),
pwmMin[i]->get(),pwmNeutral[i]->get(),pwmMax[i]->get(),
pwmDeadZone[i]->get(),filter[i]->get(),reverse[i]->get()));
// find neutral position // find neutral position
rc[i]->readRadio(); AP_RcChannel * ch = new AP_RcChannel(APM_RC,i,scale[i]->get(),
pwmNeutral[i]->set(rc[i]->getPwm()); pwmMin[i]->get(),pwmNeutral[i]->get(),pwmMax[i]->get(),
pwmDeadZone[i]->get(),filter[i]->get(),reverse[i]->get());
ch->readRadio();
pwmNeutral[i]->set(ch->getPwm());
// add rc channel
rc.push_back(ch);
} }
} }
void loop() void loop()
{ {
// set channel positions // read radio
for (int i=0;i<7;i++) for (int i=0;i<nChannels;i++) rc[i]->readRadio();
{
rc[i]->getRadio(); // read test positions
Serial.printf("\npwm:\t%d\t\tposition:\t%f\n", rc[i]->getPwm(),rc[i]->getPosition()); Serial.printf("\npwm :\t");
} for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rc[i]->getPwm());
Serial.println();
Serial.printf("position :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rc[i]->getPosition());
Serial.println();
delay(100); delay(100);
} }

70
libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde → libraries/AP_RcChannel/examples2/ServoSweep/ServoSweep.pde
View File

@ -11,9 +11,12 @@
#include <AP_EEProm.h> #include <AP_EEProm.h>
#include <APM_RC.h> #include <APM_RC.h>
FastSerialPort0(Serial); // make sure this procees variable declarations
// test settings // test settings
uint8_t nChannels = 8; uint8_t nChannels = 8;
bool loadFromEEProm = false; bool loadEEProm = false;
bool saveEEProm = false;
// channel configuration // channel configuration
Vector< AP_EEPromVar<float> * > scale; Vector< AP_EEPromVar<float> * > scale;
@ -23,15 +26,13 @@ Vector< AP_EEPromVar<uint16_t> * > pwmMax;
Vector< AP_EEPromVar<uint16_t> * > pwmDeadZone; Vector< AP_EEPromVar<uint16_t> * > pwmDeadZone;
Vector< AP_Var<bool> * > filter; Vector< AP_Var<bool> * > filter;
Vector< AP_Var<bool> * > reverse; Vector< AP_Var<bool> * > reverse;
Vector< AP_RcChannel * > rc ; Vector< AP_RcChannel * > rc;
// test position // test position
float testPosition = 0; float testPosition = 0;
uint16_t testPwm = 1500; uint16_t testPwm = 1500;
int8_t testSign = 1; int8_t testSign = 1;
// serial
FastSerialPort0(Serial);
void setup() void setup()
{ {
@ -42,18 +43,34 @@ void setup()
// add channels // add channels
for (int i=0;i<nChannels;i++) for (int i=0;i<nChannels;i++)
{ {
char num[2]; char num[5];
itoa(i,num,10); itoa(i+1,num,10);
Serial.printf("\nInitializing channel %d", i+1);
// initialize eeprom settings // initialize eeprom settings
scale.push_back(new AP_EEPromVar<float>(1.0,strcat("SCALE",num))); scale.push_back(new AP_EEPromVar<float>(1.0,strcat("SCALE",num)));
pwmMin.push_back(new AP_EEPromVar<uint16_t>(1200,strcat("PWM_MIN",num))); pwmMin.push_back(new AP_EEPromVar<uint16_t>(1200,strcat("PWM_MIN",num)));
pwmNeutral.push_back(new AP_EEPromVar<uint16_t>(1500,strcat("PWM_NEUTRAL",num))); pwmNeutral.push_back(new AP_EEPromVar<uint16_t>(1500,strcat("PWM_NEUTRAL",num)));
pwmMax.push_back(new AP_EEPromVar<uint16_t>(1800,strcat("PWM_MAX",num))); pwmMax.push_back(new AP_EEPromVar<uint16_t>(1800,strcat("PWM_MAX",num)));
pwmMax.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",num))); pwmDeadZone.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",num)));
filter.push_back(new AP_EEPromVar<bool>(false,strcat("FILTER",num)));
reverse.push_back(new AP_EEPromVar<bool>(false,strcat("REVERSE",num)));
// save
if (saveEEProm)
{
scale[i]->save();
pwmMin[i]->save();
pwmNeutral[i]->save();
pwmMax[i]->save();
pwmDeadZone[i]->save();
filter[i]->save();
reverse[i]->save();
}
// load // load
if (loadFromEEProm) if (loadEEProm)
{ {
scale[i]->load(); scale[i]->load();
pwmMin[i]->load(); pwmMin[i]->load();
@ -64,36 +81,43 @@ void setup()
reverse[i]->load(); reverse[i]->load();
} }
// add rc channel
rc.push_back(new AP_RcChannel(APM_RC,i,scale[i]->get(),
pwmMin[i]->get(),pwmNeutral[i]->get(),pwmMax[i]->get(),
pwmDeadZone[i]->get(),filter[i]->get(),reverse[i]->get()));
// find neutral position // find neutral position
rc[i]->readRadio(); AP_RcChannel * ch = new AP_RcChannel(APM_RC,i,scale[i]->get(),
pwmNeutral[i]->set(rc[i]->getPwm()); pwmMin[i]->get(),pwmNeutral[i]->get(),pwmMax[i]->get(),
pwmDeadZone[i]->get(),filter[i]->get(),reverse[i]->get());
ch->readRadio();
pwmNeutral[i]->set(ch->getPwm());
// add rc channel
rc.push_back(ch);
} }
} }
void loop() void loop()
{ {
// set channel positions // set channel positions
for (int i=0;i<7;i++) Serial.println("In Loop");
{ for (int i=0;i<nChannels;i++) rc[i]->setPosition(testPosition);
rc[i]->setPosition(testPosition);
Serial.printf("\npwm:\t%d\t\tposition:\t%f\n", rc[i]->getPwm(),rc[i]->getPosition()); Serial.printf("\ntestPosition (%f)\n",testPosition);
} Serial.printf("pwm :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rc[i]->getPwm());
Serial.println();
Serial.printf("position :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rc[i]->getPosition());
Serial.println();
// update test value // update test value
testPosition += testSign*.05; testPosition += testSign*.05;
if (testPosition > 1) if (testPosition > 1)
{ {
testPosition = -1; testPosition = 1;
testSign = -1; testSign = -1;
} }
else if (testPosition < 1) else if (testPosition < -1)
{ {
testPosition = 1; testPosition = -1;
testSign = 1; testSign = 1;
} }
delay(500); delay(500);

4
libraries/AP_RcChannel/examples/AdvUsage/AdvUsage.pde → libraries/AP_RcChannel/examples2/Usage/Usage.pde
View File

@ -11,6 +11,8 @@
#include <AP_EEProm.h> #include <AP_EEProm.h>
#include <APM_RC.h> #include <APM_RC.h>
FastSerialPort0(Serial); // make sure this proceed variable declarations
AP_EEPromVar<float> scale(45.0,"RC1_SCALE"); AP_EEPromVar<float> scale(45.0,"RC1_SCALE");
AP_EEPromVar<uint16_t> pwmMin(1000,"RC1_PWMMIN"); AP_EEPromVar<uint16_t> pwmMin(1000,"RC1_PWMMIN");
AP_EEPromVar<uint16_t> pwmNeutral(1500,"RC1_PWMNEUTRAL"); AP_EEPromVar<uint16_t> pwmNeutral(1500,"RC1_PWMNEUTRAL");
@ -26,8 +28,6 @@ AP_Var<bool> reverse(false,"RC1_REVERSE");
float testPosition = 0; float testPosition = 0;
uint16_t testPwm = 1500; uint16_t testPwm = 1500;
FastSerialPort0(Serial);
AP_RcChannel rc[] = AP_RcChannel rc[] =
{ {
AP_RcChannel(APM_RC,CH_1,scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(), AP_RcChannel(APM_RC,CH_1,scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(),