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77 lines
1.4 KiB
77 lines
1.4 KiB
14 years ago
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/*
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RC_Channel library.
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Code by Jason Short. 2010
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DIYDrones.com
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*/
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#ifndef RC_Channel_h
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#define RC_Channel_h
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#include <inttypes.h>
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#include "WProgram.h"
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class RC_Channel
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{
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public:
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RC_Channel();
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// startup
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void load_eeprom(int address);
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void save_eeprom(int address);
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void set_radio_range(int r_min, int r_max);
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// setup the control preferences
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void set_range(int high, int low);
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void set_angle(int angle);
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// call after first read
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void set_trim(int pwm);
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// read input from APM_RC - create a control_in value
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void set_pwm(int pwm);
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// did our read come in 50µs below the min?
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boolean get_failsafe(void);
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// value generated from PWM
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int16_t control_in;
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// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
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int16_t servo_out;
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// generate PWM from servo_out value
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void calc_pwm(void);
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// PWM is without the offset from radio_min
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int16_t pwm_out;
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int16_t radio_out;
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// includes offset from PWM
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//int16_t get_radio_out(void);
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private:
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int16_t channel_filter();
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int16_t pwm_to_angle();
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int16_t angle_to_pwm();
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int16_t pwm_to_range();
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int16_t range_to_pwm();
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byte _channel;
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boolean _type;
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boolean _filter;
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int16_t _radio_in;
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int16_t _radio_min;
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int16_t _radio_trim;
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int16_t _radio_max;
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int16_t _high;
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int16_t _low;
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};
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#endif
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