mirror of https://github.com/ArduPilot/ardupilot
86 lines
1.7 KiB
Plaintext
86 lines
1.7 KiB
Plaintext
/*
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Example of RC_Channel library.
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Code by James Goppert/ Jason Short. 2010
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DIYDrones.com
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*/
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_RcChannel.h> // ArduPilot Mega RC Library
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#include <APM_RC.h>
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FastSerialPort0(Serial); // make sure this procees variable declarations
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// test settings
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uint8_t nChannels = 8;
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// channel configuration
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AP_RcChannel rcCh[] =
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{
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AP_RcChannel("ROLL",APM_RC,0,45),
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AP_RcChannel("PITCH",APM_RC,1,45),
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AP_RcChannel("THR",APM_RC,2,100),
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AP_RcChannel("YAW",APM_RC,3,45),
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AP_RcChannel("CH5",APM_RC,4,1),
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AP_RcChannel("CH6",APM_RC,5,1),
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AP_RcChannel("CH7",APM_RC,6,1),
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AP_RcChannel("CH8",APM_RC,7,1)
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};
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// test position
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float testPosition = 2;
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int8_t testSign = 1;
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void setup()
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{
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Serial.begin(115200);
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delay(2000);
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Serial.println("ArduPilot RC Channel test");
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APM_RC.Init(); // APM Radio initialization
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delay(2000);
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}
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void loop()
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{
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// update test value
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testPosition += testSign*.1;
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if (testPosition > 1)
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{
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//eepromRegistry.print(Serial); // show eeprom map
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testPosition = 1;
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testSign = -1;
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}
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else if (testPosition < -1)
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{
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testPosition = -1;
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testSign = 1;
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}
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// set channel positions
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for (int i=0;i<nChannels;i++) rcCh[i].setNormalized(testPosition);
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// print test position
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Serial.printf("\nnormalized position (%f)\n",testPosition);
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// print channel names
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Serial.print("\t\t");
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for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
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Serial.println();
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// print pwm
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Serial.printf("pwm :\t");
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for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rcCh[i].getPwm());
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Serial.println();
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// print position
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Serial.printf("position :\t");
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for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
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Serial.println();
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delay(500);
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}
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