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Updated RcChannel examples.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1372 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-30 07:02:56 +00:00
parent b3089a9c73
commit d7c6bc7c16
3 changed files with 58 additions and 173 deletions
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106
libraries/AP_RcChannel/examples/Manual/Manual.pde
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@ -15,90 +15,56 @@ FastSerialPort0(Serial); // make sure this procees variable declarations
// test settings
uint8_t nChannels = 8;
bool loadEEProm = false;
bool saveEEProm = false;
// channel configuration
Vector< AP_EEPromVar<float> * > scale;
Vector< AP_EEPromVar<uint16_t> * > pwmMin;
Vector< AP_EEPromVar<uint16_t> * > pwmNeutral;
Vector< AP_EEPromVar<uint16_t> * > pwmMax;
Vector< AP_EEPromVar<uint16_t> * > pwmDeadZone;
Vector< AP_Var<bool> * > filter;
Vector< AP_Var<bool> * > reverse;
Vector< AP_RcChannel * > rc;
AP_RcChannel rcCh[] =
{
AP_RcChannel("ROLL",APM_RC,0,100.0),
AP_RcChannel("PITCH",APM_RC,1,45),
AP_RcChannel("THR",APM_RC,2,100),
AP_RcChannel("YAW",APM_RC,3,45),
AP_RcChannel("CH5",APM_RC,4,1),
AP_RcChannel("CH6",APM_RC,5,1),
AP_RcChannel("CH7",APM_RC,6,1),
AP_RcChannel("CH8",APM_RC,7,1)
};
// test position
float testPosition = 2;
int8_t testSign = 1;
void setup()
{
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
// add channels
for (int i=0;i<nChannels;i++)
{
char num[5];
itoa(i+1,num,10);
Serial.printf("\nInitializing channel %d", i+1);
// initialize eeprom settings
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)));
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)));
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
if (loadEEProm)
{
scale[i]->load();
pwmMin[i]->load();
pwmNeutral[i]->load();
pwmMax[i]->load();
pwmDeadZone[i]->load();
filter[i]->load();
reverse[i]->load();
}
// find neutral position
AP_RcChannel * ch = 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());
ch->readRadio();
pwmNeutral[i]->set(ch->getPwm());
// add rc channel
rc.push_back(ch);
}
delay(2000);
eepromRegistry.print(Serial); // show eeprom map
}
void loop()
{
// read radio
for (int i=0;i<nChannels;i++) rc[i]->readRadio();
// read test positions
Serial.printf("\npwm :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rc[i]->getPwm());
// read the radio
for (int i=0;i<nChannels;i++) rcCh[i].readRadio();
// print channel names
Serial.print("\n\t\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
Serial.println();
// print pwm
Serial.printf("pwm :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rcCh[i].getPwm());
Serial.println();
// print position
Serial.printf("position :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rc[i]->getPosition());
for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
Serial.println();
delay(100);
delay(500);
}

41
libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
View File

@ -5,7 +5,6 @@
*/
#define AP_DISPLAYMEM
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
@ -31,28 +30,45 @@ AP_RcChannel rcCh[] =
};
// test position
float testPosition = 0;
float testPosition = 2;
int8_t testSign = 1;
void setup()
{
Serial.begin(115200);
delay(2000);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
eepromRegistry.print(Serial); // show eeprom map
delay(2000);
}
void loop()
{
// update test value
testPosition += testSign*.1;
if (testPosition > 1)
{
eepromRegistry.print(Serial); // show eeprom map
testPosition = 1;
testSign = -1;
}
else if (testPosition < -1)
{
testPosition = -1;
testSign = 1;
}
// set channel positions
for (int i=0;i<nChannels;i++) rcCh[i].setNormalized(testPosition);
// print test position
Serial.printf("\ntestPosition (%f)\n\t\t",testPosition);
Serial.printf("\nnormalized position (%f)\n",testPosition);
// print channgel names
// print channel names
Serial.print("\t\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
Serial.println();
@ -66,18 +82,5 @@ void loop()
for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
Serial.println();
// update test value
testPosition += testSign*.05;
if (testPosition > 1)
{
testPosition = 1;
testSign = -1;
}
else if (testPosition < -1)
{
testPosition = -1;
testSign = 1;
}
delay(100);
delay(500);
}

84
libraries/AP_RcChannel/examples/Usage/Usage.pde
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@ -1,84 +0,0 @@
/*
Example of RC_Channel library.
Code by James Goppert/ Jason Short. 2010
DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <AP_EEProm.h>
#include <APM_RC.h>
FastSerialPort0(Serial); // make sure this proceed variable declarations
AP_EEPromVar<float> scale(45.0,"RC1_SCALE");
AP_EEPromVar<uint16_t> pwmMin(1000,"RC1_PWMMIN");
AP_EEPromVar<uint16_t> pwmNeutral(1500,"RC1_PWMNEUTRAL");
AP_EEPromVar<uint16_t> pwmMax(2000,"RC1_PWMMAX");
AP_EEPromVar<uint16_t> pwmDeadZone(100,"RC1_PWMDEADZONE");
#define CH_1 0
// configuration
AP_Var<bool> filter(false,"RC1_FILTER");
AP_Var<bool> reverse(false,"RC1_REVERSE");
float testPosition = 0;
uint16_t testPwm = 1500;
AP_RcChannel rc[] =
{
AP_RcChannel(APM_RC,CH_1,scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(),
pwmDeadZone.get(),filter.get(),reverse.get())
};
void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(1000);
// configuratoin
scale.set(100);
Serial.printf("\nscale.set(100)\n");
delay(2000);
// find neutral radio position
rc[CH_1].readRadio();
Serial.printf("\nrc[CH_1].readRadio()\n");
Serial.printf("\npwmNeutral.set(rc[CH_1].getPwm())\n");
pwmNeutral.set(rc[CH_1].getPwm());
delay(2000);
}
void loop()
{
// get the min pwm
Serial.printf("\npwmMin.get(): %d\n", pwmMin.get());
delay(2000);
// set by pwm
rc[CH_1].setPwm(testPwm);
Serial.printf("\nrc[CH_1].setPwm(1500)\n");
Serial.printf("pwm: %d position: %f\n",rc[CH_1].getPwm(),
rc[CH_1].getPosition());
delay(2000);
// set by position
rc[CH_1].setPosition(testPosition);
Serial.printf("\nrc[CH_1].setPosition(-50))\n");
Serial.printf("pwm: %d position: %f\n",rc[CH_1].getPwm(),
rc[CH_1].getPosition());
delay(2000);
// update test value
testPosition += 10;
if (testPosition > 100) testPosition = -100;
testPwm += 100;
if (testPwm > 1800) testPosition = 1200;
}