a496ef2b17
git-svn-id: https://arducopter.googlecode.com/svn/trunk@427 f9c3cf11-9bcb-44bc-f272-b75c42450872
50 lines
1.0 KiB
Plaintext
50 lines
1.0 KiB
Plaintext
/*
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Example of AP_RC library.
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Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
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Print Input values and send Output to the servos
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(Works with last PPM_encoder firmware)
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*/
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#include <AP_RC.h> // ArduPilot RC Library
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AP_RC rc;
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#define CH_ROLL 0
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#define CH_PITCH 1
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#define CH_THROTTLE 2
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#define CH_RUDDER 3
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void setup()
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{
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Serial.begin(38400);
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Serial.println("ArduPilot RC library test");
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//rc.set_channel_direction(CH_ROLL, -1);
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//rc.set_channel_direction(CH_PITCH, -1);
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//rc.set_channel_direction(CH_THROTTLE, -1);
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//rc.set_channel_direction(CH_RUDDER, -1);
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rc.init();
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delay(1000);
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}
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void loop()
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{
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delay(20);
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rc.read_pwm();
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for(int y = 0; y < 4; y++) {
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rc.set_ch_pwm(y, rc.radio_in[y]); // send to Servos
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}
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print_pwm();
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}
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void print_pwm()
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{
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Serial.print("ch1 ");
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Serial.print(rc.radio_in[CH_ROLL], DEC);
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Serial.print("\tch2: ");
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Serial.print(rc.radio_in[CH_PITCH], DEC);
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Serial.print("\tch3 :");
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Serial.print(rc.radio_in[CH_THROTTLE], DEC);
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Serial.print("\tch4 :");
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Serial.println(rc.radio_in[CH_RUDDER], DEC);
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} |