mirror of
https://github.com/ArduPilot/ardupilot
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c0c8f1a5cc
Fix up RC_Channel examples. Change direct access to data members to access via member functions
112 lines
2.3 KiB
C++
112 lines
2.3 KiB
C++
/*
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* Example of RC_Channel library.
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* Based on original sketch by Jason Short. 2010
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*/
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#include <AP_HAL/AP_HAL.h>
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#include <RC_Channel/RC_Channel.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define NUM_CHANNELS 8
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static RC_Channel rc_1(CH_1);
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static RC_Channel rc_2(CH_2);
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static RC_Channel rc_3(CH_3);
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static RC_Channel rc_4(CH_4);
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static RC_Channel rc_5(CH_5);
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static RC_Channel rc_6(CH_6);
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static RC_Channel rc_7(CH_7);
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static RC_Channel rc_8(CH_8);
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static RC_Channel **rc = RC_Channel::rc_channel_array();
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static void print_pwm(void);
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static void print_radio_values();
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static void copy_input_output(void);
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void setup()
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{
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hal.console->println("ArduPilot RC Channel test");
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print_radio_values();
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// set type of output, symmetrical angles or a number range;
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rc_1.set_angle(4500);
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rc_1.set_default_dead_zone(80);
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rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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rc_2.set_angle(4500);
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rc_2.set_default_dead_zone(80);
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rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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rc_3.set_range(0,1000);
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rc_3.set_default_dead_zone(20);
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rc_4.set_angle(6000);
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rc_4.set_default_dead_zone(500);
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rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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rc_5.set_range(0,1000);
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rc_6.set_range(200,800);
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rc_7.set_range(0,1000);
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rc_8.set_range(0,1000);
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for (int i=0; i<NUM_CHANNELS; i++) {
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rc[i]->enable_out();
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}
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}
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void loop()
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{
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RC_Channel::set_pwm_all();
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print_pwm();
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copy_input_output();
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hal.scheduler->delay(20);
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}
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static void print_pwm(void)
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{
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for (int i=0; i<NUM_CHANNELS; i++) {
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hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i]->get_control_in());
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}
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hal.console->printf("\n");
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}
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static void print_radio_values()
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{
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for (int i=0; i<NUM_CHANNELS; i++) {
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hal.console->printf("CH%u: %u|%u\n",
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(unsigned)i+1,
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(unsigned)rc[i]->get_radio_min(),
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(unsigned)rc[i]->get_radio_max());
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}
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}
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/*
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copy scaled input to output
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*/
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static void copy_input_output(void)
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{
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for (int i=0; i<NUM_CHANNELS; i++) {
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rc[i]->set_servo_out(rc[i]->get_control_in());
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rc[i]->calc_pwm();
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rc[i]->output();
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}
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}
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AP_HAL_MAIN();
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