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uncrustify libraries/RC_Channel/RC_Channel.cpp

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uncrustify 2012-08-16 23:22:48 -07:00 committed by Pat Hickey
parent 02877cfe28
commit e9fb7cfd92
1 changed files with 150 additions and 150 deletions
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58
libraries/RC_Channel/RC_Channel.cpp
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@ -1,13 +1,13 @@
/* /*
RC_Channel.cpp - Radio library for Arduino * RC_Channel.cpp - Radio library for Arduino
Code by Jason Short. DIYDrones.com * Code by Jason Short. DIYDrones.com
*
This library is free software; you can redistribute it and / or * This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*
*/ */
#include <math.h> #include <math.h>
#include <avr/eeprom.h> #include <avr/eeprom.h>
@ -141,23 +141,23 @@ RC_Channel::set_pwm(int16_t pwm)
{ {
/*if(_filter){ /*if(_filter){
if(radio_in == 0) * if(radio_in == 0)
radio_in = pwm; * radio_in = pwm;
else * else
radio_in = (pwm + radio_in) >> 1; // Small filtering * radio_in = (pwm + radio_in) >> 1; // Small filtering
}else{ * }else{
radio_in = pwm; * radio_in = pwm;
}*/ * }*/
radio_in = pwm; radio_in = pwm;
if(_type == RC_CHANNEL_RANGE){ if(_type == RC_CHANNEL_RANGE) {
control_in = pwm_to_range(); control_in = pwm_to_range();
//control_in = constrain(control_in, _low, _high); //control_in = constrain(control_in, _low, _high);
//control_in = min(control_in, _high); //control_in = min(control_in, _high);
control_in = (control_in < _dead_zone) ? 0 : control_in; control_in = (control_in < _dead_zone) ? 0 : control_in;
if (fabs(scale_output) != 1){ if (fabs(scale_output) != 1) {
control_in *= scale_output; control_in *= scale_output;
} }
@ -167,17 +167,17 @@ RC_Channel::set_pwm(int16_t pwm)
control_in = pwm_to_angle(); control_in = pwm_to_angle();
if (fabs(scale_output) != 1){ if (fabs(scale_output) != 1) {
control_in *= scale_output; control_in *= scale_output;
} }
/* /*
// coming soon ?? * // coming soon ??
if(expo) { * if(expo) {
long temp = control_in; * long temp = control_in;
temp = (temp * temp) / (long)_high; * temp = (temp * temp) / (long)_high;
control_in = (int16_t)((control_in >= 0) ? temp : -temp); * control_in = (int16_t)((control_in >= 0) ? temp : -temp);
}*/ * }*/
} }
} }
@ -198,11 +198,11 @@ RC_Channel::get_failsafe(void)
void void
RC_Channel::calc_pwm(void) RC_Channel::calc_pwm(void)
{ {
if(_type == RC_CHANNEL_RANGE){ if(_type == RC_CHANNEL_RANGE) {
pwm_out = range_to_pwm(); pwm_out = range_to_pwm();
radio_out = (_reverse >= 0) ? (radio_min + pwm_out) : (radio_max - pwm_out); radio_out = (_reverse >= 0) ? (radio_min + pwm_out) : (radio_max - pwm_out);
}else if(_type == RC_CHANNEL_ANGLE_RAW){ }else if(_type == RC_CHANNEL_ANGLE_RAW) {
pwm_out = (float)servo_out * .1; pwm_out = (float)servo_out * .1;
radio_out = (pwm_out * _reverse) + radio_trim; radio_out = (pwm_out * _reverse) + radio_trim;
@ -263,9 +263,9 @@ RC_Channel::pwm_to_angle()
if ((radio_trim_low - radio_min) == 0 || (radio_max - radio_trim_high) == 0) if ((radio_trim_low - radio_min) == 0 || (radio_max - radio_trim_high) == 0)
return 0; return 0;
if(radio_in > radio_trim_high){ if(radio_in > radio_trim_high) {
return _reverse * ((long)_high * (long)(radio_in - radio_trim_high)) / (long)(radio_max - radio_trim_high); return _reverse * ((long)_high * (long)(radio_in - radio_trim_high)) / (long)(radio_max - radio_trim_high);
}else if(radio_in < radio_trim_low){ }else if(radio_in < radio_trim_low) {
return _reverse * ((long)_high * (long)(radio_in - radio_trim_low)) / (long)(radio_trim_low - radio_min); return _reverse * ((long)_high * (long)(radio_in - radio_trim_low)) / (long)(radio_trim_low - radio_min);
}else }else
return 0; return 0;