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Rover live test WORKS! "Murphy's Law is a turtle"

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This commit is contained in:
Wenyao Xie 2011-12-03 22:42:08 -05:00
parent dac3ba48e0
commit fd77fe5a9d
4 changed files with 23 additions and 14 deletions
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4
ArduRover/CarStampede.h
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@ -35,8 +35,8 @@ static const uint32_t gpsBaud = 38400;
static const uint32_t hilBaud = 115200; static const uint32_t hilBaud = 115200;
// optional sensors // optional sensors
static const bool gpsEnabled = false; static const bool gpsEnabled = true;
static const bool baroEnabled = false; static const bool baroEnabled = true;
static const bool compassEnabled = true; static const bool compassEnabled = true;
static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD; static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;
// compass orientation: See AP_Compass_HMC5843.h for possible values // compass orientation: See AP_Compass_HMC5843.h for possible values

5
libraries/APM_RC/APM_RC.h
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@ -33,10 +33,13 @@
#define NUM_CHANNELS 8 #define NUM_CHANNELS 8
class Arduino_Mega_ISR_Registry;
class APM_RC_Class class APM_RC_Class
{ {
public: public:
APM_RC_Class() {} virtual void Init( Arduino_Mega_ISR_Registry * isr_reg );
virtual void OutputCh(uint8_t ch, uint16_t pwm) = 0; virtual void OutputCh(uint8_t ch, uint16_t pwm) = 0;
virtual uint16_t InputCh(uint8_t ch) = 0; virtual uint16_t InputCh(uint8_t ch) = 0;
virtual uint8_t GetState() = 0; virtual uint8_t GetState() = 0;

5
libraries/APO/APO_DefaultSetup.h
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@ -36,11 +36,14 @@ void setup() {
hal->debug = &Serial; hal->debug = &Serial;
hal->debug->println_P(PSTR("initializing debug line")); hal->debug->println_P(PSTR("initializing debug line"));
// isr
hal->isr_registry = new Arduino_Mega_ISR_Registry;
// initialize radio // initialize radio
hal->radio = new APM_RC_APM1; hal->radio = new APM_RC_APM1;
hal->radio->Init(hal->isr_registry);
// initialize scheduler // initialize scheduler
hal->isr_registry = new Arduino_Mega_ISR_Registry;
hal->scheduler = new AP_TimerProcess; hal->scheduler = new AP_TimerProcess;
hal->scheduler->init(hal->isr_registry); hal->scheduler->init(hal->isr_registry);

21
libraries/APO/examples/ServoManual/ServoManual.pde
View File

@ -10,6 +10,7 @@
#include <AP_RcChannel.h> // ArduPilot Mega RC Library #include <AP_RcChannel.h> // ArduPilot Mega RC Library
#include <APM_RC.h> #include <APM_RC.h>
#include <AP_Vector.h> #include <AP_Vector.h>
#include <Arduino_Mega_ISR_Registry.h>
FastSerialPort0(Serial) FastSerialPort0(Serial)
; // make sure this proceeds variable declarations ; // make sure this proceeds variable declarations
@ -33,38 +34,40 @@ private:
ch8Key ch8Key
}; };
Vector<AP_RcChannel *> ch; Vector<AP_RcChannel *> ch;
APM_RC_APM1 radio;
Arduino_Mega_ISR_Registry isr_registry;
public: public:
RadioTest() : RadioTest() :
testPosition(2), testSign(1) { testPosition(2), testSign(1) {
ch.push_back( ch.push_back(
new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500, new AP_RcChannel(rollKey, PSTR("ROLL"), &radio, 0, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
ch.push_back( ch.push_back(
new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100, new AP_RcChannel(pitchKey, PSTR("PITCH"), &radio, 1, 1100,
1500, 1900, RC_MODE_INOUT, false)); 1500, 1900, RC_MODE_INOUT, false));
ch.push_back( ch.push_back(
new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500, new AP_RcChannel(thrKey, PSTR("THR"), &radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
ch.push_back( ch.push_back(
new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500, new AP_RcChannel(yawKey, PSTR("YAW"), &radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
ch.push_back( ch.push_back(
new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500, new AP_RcChannel(ch5Key, PSTR("CH5"), &radio, 4, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
ch.push_back( ch.push_back(
new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500, new AP_RcChannel(ch6Key, PSTR("CH6"), &radio, 5, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
ch.push_back( ch.push_back(
new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500, new AP_RcChannel(ch7Key, PSTR("CH7"), &radio, 6, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
ch.push_back( ch.push_back(
new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500, new AP_RcChannel(ch8Key, PSTR("CH8"), &radio, 7, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
radio.Init(&isr_registry);
Serial.begin(57600); Serial.begin(57600);
delay(2000); delay(2000);
Serial.println("ArduPilot RC Channel test"); Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(2000); delay(2000);
} }