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ArduCopter motors_y6: rewrite CH_ macros with MOT_ macros

This commit is contained in:
Pat Hickey 2012-01-01 20:18:06 -05:00
parent 927e60d85b
commit fc6321b7ca
1 changed files with 74 additions and 74 deletions
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148
ArduCopter/motors_y6.pde
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@ -7,8 +7,8 @@
static void init_motors_out()
{
#if INSTANT_PWM == 0
APM_RC.SetFastOutputChannels( _BV(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4)
| _BV(CH_7) | _BV(CH_8) );
APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
| _BV(MOT_5) | _BV(MOT_6) );
#endif
}
@ -30,24 +30,24 @@ static void output_motors_armed()
// Multi-Wii Mix
//left
motor_out[CH_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW
motor_out[CH_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW
motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
//right
motor_out[CH_7] = (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
//back
motor_out[CH_8] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
motor_out[CH_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW
motor_out[MOT_6] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
motor_out[MOT_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW
//left
motor_out[CH_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW
motor_out[CH_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW
motor_out[MOT_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW
motor_out[MOT_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW
//right
motor_out[CH_7] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW
motor_out[CH_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW
motor_out[MOT_5] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW
motor_out[MOT_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW
//back
motor_out[CH_8] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW
motor_out[CH_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW
motor_out[MOT_6] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW
motor_out[MOT_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW
/*
@ -55,54 +55,54 @@ static void output_motors_armed()
int pitch_out = g.rc_2.pwm_out / 2;
//left
motor_out[CH_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
//right
motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
//back
motor_out[CH_8] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP
motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
motor_out[MOT_6] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP
motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
// Yaw
//top
motor_out[CH_2] += g.rc_4.pwm_out; // CCW
motor_out[CH_7] += g.rc_4.pwm_out; // CCW
motor_out[CH_8] += g.rc_4.pwm_out; // CCW
motor_out[MOT_2] += g.rc_4.pwm_out; // CCW
motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
//bottom
motor_out[CH_3] -= g.rc_4.pwm_out; // CW
motor_out[CH_1] -= g.rc_4.pwm_out; // CW
motor_out[CH_4] -= g.rc_4.pwm_out; // CW
motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
*/
// TODO: add stability patch
motor_out[CH_1] = min(motor_out[CH_1], out_max);
motor_out[CH_2] = min(motor_out[CH_2], out_max);
motor_out[CH_3] = min(motor_out[CH_3], out_max);
motor_out[CH_4] = min(motor_out[CH_4], out_max);
motor_out[CH_7] = min(motor_out[CH_7], out_max);
motor_out[CH_8] = min(motor_out[CH_8], out_max);
motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
// limit output so motors don't stop
motor_out[CH_1] = max(motor_out[CH_1], out_min);
motor_out[CH_2] = max(motor_out[CH_2], out_min);
motor_out[CH_3] = max(motor_out[CH_3], out_min);
motor_out[CH_4] = max(motor_out[CH_4], out_min);
motor_out[CH_7] = max(motor_out[CH_7], out_min);
motor_out[CH_8] = max(motor_out[CH_8], out_min);
motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
#if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors
if(g.rc_3.servo_out == 0){
motor_out[CH_1] = g.rc_3.radio_min;
motor_out[CH_2] = g.rc_3.radio_min;
motor_out[CH_3] = g.rc_3.radio_min;
motor_out[CH_4] = g.rc_3.radio_min;
motor_out[CH_7] = g.rc_3.radio_min;
motor_out[CH_8] = g.rc_3.radio_min;
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
}
#endif
@ -118,12 +118,12 @@ static void output_motors_armed()
}
}
APM_RC.OutputCh(CH_1, motor_filtered[CH_1]);
APM_RC.OutputCh(CH_2, motor_filtered[CH_2]);
APM_RC.OutputCh(CH_3, motor_filtered[CH_3]);
APM_RC.OutputCh(CH_4, motor_filtered[CH_4]);
APM_RC.OutputCh(CH_7, motor_filtered[CH_7]);
APM_RC.OutputCh(CH_8, motor_filtered[CH_8]);
APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
#if INSTANT_PWM == 1
// InstantPWM
@ -147,45 +147,45 @@ static void output_motors_disarmed()
}
// Send commands to motors
APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
}
static void output_motor_test()
{
motor_out[CH_1] = g.rc_3.radio_min;
motor_out[CH_2] = g.rc_3.radio_min;
motor_out[CH_3] = g.rc_3.radio_min;
motor_out[CH_4] = g.rc_3.radio_min;
motor_out[CH_7] = g.rc_3.radio_min;
motor_out[CH_8] = g.rc_3.radio_min;
motor_out[MOT_1] = g.rc_3.radio_min;
motor_out[MOT_2] = g.rc_3.radio_min;
motor_out[MOT_3] = g.rc_3.radio_min;
motor_out[MOT_4] = g.rc_3.radio_min;
motor_out[MOT_5] = g.rc_3.radio_min;
motor_out[MOT_6] = g.rc_3.radio_min;
if(g.rc_1.control_in > 3000){ // right
motor_out[CH_1] += 100;
motor_out[CH_7] += 100;
motor_out[MOT_1] += 100;
motor_out[MOT_5] += 100;
}
if(g.rc_1.control_in < -3000){ // left
motor_out[CH_2] += 100;
motor_out[CH_3] += 100;
motor_out[MOT_2] += 100;
motor_out[MOT_3] += 100;
}
if(g.rc_2.control_in > 3000){ // back
motor_out[CH_8] += 100;
motor_out[CH_4] += 100;
motor_out[MOT_6] += 100;
motor_out[MOT_4] += 100;
}
APM_RC.OutputCh(CH_1, motor_out[CH_1]);
APM_RC.OutputCh(CH_2, motor_out[CH_2]);
APM_RC.OutputCh(CH_3, motor_out[CH_4]);
APM_RC.OutputCh(CH_4, motor_out[CH_4]);
APM_RC.OutputCh(CH_7, motor_out[CH_7]);
APM_RC.OutputCh(CH_8, motor_out[CH_8]);
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
APM_RC.OutputCh(MOT_3, motor_out[MOT_4]);
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
}
#endif