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Improved AP_RcChannel examples.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1331 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-28 20:57:03 +00:00
parent 9f0f1efc19
commit 1259cb041f
3 changed files with 187 additions and 0 deletions
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0
libraries/AP_RcChannel/examples/AP_RcChannel/AP_RcChannel.pde → libraries/AP_RcChannel/examples/AdvUsage/AdvUsage.pde
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libraries/AP_RcChannel/examples/Manual/ServoSweep.pde Normal file
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/*
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>
// test settings
uint8_t nChannels = 8;
bool loadFromEEProm = 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 ;
// test position
float testPosition = 0;
uint16_t testPwm = 1500;
int8_t testSign = 1;
// serial
FastSerialPort0(Serial);
void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
// add channels
for (int i=0;i<nChannels;i++)
{
char num[2];
itoa(i,num,10);
// 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)));
pwmMax.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",num)));
// load
if (loadFromEEProm)
{
scale[i]->load();
pwmMin[i]->load();
pwmNeutral[i]->load();
pwmMax[i]->load();
pwmDeadZone[i]->load();
filter[i]->load();
reverse[i]->load();
}
// add rc channel
rc.push_back(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()));
// find neutral position
rc[i]->readRadio();
pwmNeutral[i]->set(rc[i]->getPwm());
}
}
void loop()
{
// set channel positions
for (int i=0;i<7;i++)
{
rc[i]->getRadio();
Serial.printf("\npwm:\t%d\t\tposition:\t%f\n", rc[i]->getPwm(),rc[i]->getPosition());
}
delay(100);
}

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libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde Normal file
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/*
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>
// test settings
uint8_t nChannels = 8;
bool loadFromEEProm = 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 ;
// test position
float testPosition = 0;
uint16_t testPwm = 1500;
int8_t testSign = 1;
// serial
FastSerialPort0(Serial);
void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
// add channels
for (int i=0;i<nChannels;i++)
{
char num[2];
itoa(i,num,10);
// 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)));
pwmMax.push_back(new AP_EEPromVar<uint16_t>(10,strcat("PWM_DEADZONE",num)));
// load
if (loadFromEEProm)
{
scale[i]->load();
pwmMin[i]->load();
pwmNeutral[i]->load();
pwmMax[i]->load();
pwmDeadZone[i]->load();
filter[i]->load();
reverse[i]->load();
}
// add rc channel
rc.push_back(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()));
// find neutral position
rc[i]->readRadio();
pwmNeutral[i]->set(rc[i]->getPwm());
}
}
void loop()
{
// set channel positions
for (int i=0;i<7;i++)
{
rc[i]->setPosition(testPosition);
Serial.printf("\npwm:\t%d\t\tposition:\t%f\n", rc[i]->getPwm(),rc[i]->getPosition());
}
// update test value
testPosition += testSign*.05;
if (testPosition > 1)
{
testPosition = -1;
testSign = -1;
}
else if (testPosition < 1)
{
testPosition = 1;
testSign = 1;
}
delay(500);
}