zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

uncrustify libraries/RC_Channel/examples/RC_Channel2/RC_Channel2.pde

mission-4.1.18
uncrustify 13 years ago committed by Pat Hickey
parent
b2ade84dbb
commit
02877cfe28
1 changed files with 161 additions and 161 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 322
      libraries/RC_Channel/examples/RC_Channel2/RC_Channel2.pde

322
libraries/RC_Channel/examples/RC_Channel2/RC_Channel2.pde
Unescape View File

@ -1,22 +1,22 @@ @@ -1,22 +1,22 @@
/*
Example of RC_Channel library.
Code by Jason Short. 2010
DIYDrones.com
* Example of RC_Channel library.
* Code by Jason Short. 2010
* DIYDrones.com
*
*/
*/
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <RC_Channel.h> // ArduPilot Mega RC Library
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <RC_Channel.h> // ArduPilot Mega RC Library
#define EE_RADIO_1 0x00 // all gains stored from here
#define EE_RADIO_2 0x06 // all gains stored from here
#define EE_RADIO_3 0x0C // all gains stored from here
#define EE_RADIO_4 0x12 // all gains stored from here
#define EE_RADIO_5 0x18 // all gains stored from here
#define EE_RADIO_6 0x1E // all gains stored from here
#define EE_RADIO_7 0x24 // all gains stored from here
#define EE_RADIO_8 0x2A // all gains stored from here
#define EE_RADIO_1 0x00 // all gains stored from here
#define EE_RADIO_2 0x06 // all gains stored from here
#define EE_RADIO_3 0x0C // all gains stored from here
#define EE_RADIO_4 0x12 // all gains stored from here
#define EE_RADIO_5 0x18 // all gains stored from here
#define EE_RADIO_6 0x1E // all gains stored from here
#define EE_RADIO_7 0x24 // all gains stored from here
#define EE_RADIO_8 0x2A // all gains stored from here
RC_Channel rc_1(EE_RADIO_1);
@ -39,171 +39,171 @@ RC_Channel rc_8(EE_RADIO_8); @@ -39,171 +39,171 @@ RC_Channel rc_8(EE_RADIO_8);
void setup()
{
Serial.begin(38400);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(500);
// setup radio
// read eepom or set manually
/*
rc_1.radio_min = 1100;
rc_1.radio_max = 1900;
rc_2.radio_min = 1100;
rc_2.radio_max = 1900;
rc_3.radio_min = 1100;
rc_3.radio_max = 1900;
rc_4.radio_min = 1100;
rc_4.radio_max = 1900;
// or
rc_1.load_eeprom();
rc_2.load_eeprom();
rc_3.load_eeprom();
rc_4.load_eeprom();
rc_5.load_eeprom();
rc_6.load_eeprom();
rc_7.load_eeprom();
rc_8.load_eeprom();
*/
// interactive setup
setup_radio();
print_radio_values();
// set type of output, symmetrical angles or a number range;
rc_1.set_angle(4500);
rc_1.dead_zone = 80;
rc_2.set_angle(4500);
rc_2.dead_zone = 80;
rc_3.set_range(0,1000);
rc_3.dead_zone = 20;
rc_3.scale_output = .8; // gives more dynamic range to quads
rc_4.set_angle(6000);
rc_4.dead_zone = 500;
rc_5.set_range(0,1000);
rc_5.set_filter(false);
rc_6.set_range(200,800);
rc_7.set_range(0,1000);
rc_8.set_range(0,1000);
for (byte i = 0; i < 30; i++){
rc_1.set_pwm(APM_RC.InputCh(CH_1));
}
rc_1.trim();
rc_2.trim();
rc_4.trim();
Serial.begin(38400);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(500);
// setup radio
// read eepom or set manually
/*
* rc_1.radio_min = 1100;
* rc_1.radio_max = 1900;
*
* rc_2.radio_min = 1100;
* rc_2.radio_max = 1900;
*
* rc_3.radio_min = 1100;
* rc_3.radio_max = 1900;
*
* rc_4.radio_min = 1100;
* rc_4.radio_max = 1900;
*
* // or
*
* rc_1.load_eeprom();
* rc_2.load_eeprom();
* rc_3.load_eeprom();
* rc_4.load_eeprom();
* rc_5.load_eeprom();
* rc_6.load_eeprom();
* rc_7.load_eeprom();
* rc_8.load_eeprom();
*
*/
// interactive setup
setup_radio();
print_radio_values();
// set type of output, symmetrical angles or a number range;
rc_1.set_angle(4500);
rc_1.dead_zone = 80;
rc_2.set_angle(4500);
rc_2.dead_zone = 80;
rc_3.set_range(0,1000);
rc_3.dead_zone = 20;
rc_3.scale_output = .8; // gives more dynamic range to quads
rc_4.set_angle(6000);
rc_4.dead_zone = 500;
rc_5.set_range(0,1000);
rc_5.set_filter(false);
rc_6.set_range(200,800);
rc_7.set_range(0,1000);
rc_8.set_range(0,1000);
for (byte i = 0; i < 30; i++) {
rc_1.set_pwm(APM_RC.InputCh(CH_1));
}
rc_1.trim();
rc_2.trim();
rc_4.trim();
}
void loop()
void loop()
{
delay(20);
read_radio();
rc_1.servo_out = rc_1.control_in;
rc_1.calc_pwm();
print_pwm();
delay(20);
read_radio();
rc_1.servo_out = rc_1.control_in;
rc_1.calc_pwm();
print_pwm();
}
void read_radio()
{
rc_1.set_pwm(APM_RC.InputCh(CH_1));
rc_1.set_pwm(APM_RC.InputCh(CH_1));
}
void print_pwm()
{
Serial.print("ch1 - PWM in: ");
Serial.print(rc_1.radio_in, DEC);
Serial.print("\t control_in: ");
Serial.print(rc_1.control_in, DEC);
Serial.print("\t servo out: ");
Serial.print(rc_1.servo_out, DEC);
Serial.print("\t pwm out: ");
Serial.print(rc_1.pwm_out, DEC);
Serial.print("\t pwm to radio: ");
Serial.println(rc_1.radio_out, DEC);
Serial.print("ch1 - PWM in: ");
Serial.print(rc_1.radio_in, DEC);
Serial.print("\t control_in: ");
Serial.print(rc_1.control_in, DEC);
Serial.print("\t servo out: ");
Serial.print(rc_1.servo_out, DEC);
Serial.print("\t pwm out: ");
Serial.print(rc_1.pwm_out, DEC);
Serial.print("\t pwm to radio: ");
Serial.println(rc_1.radio_out, DEC);
}
void
void
print_radio_values()
{
Serial.print("CH1: ");
Serial.print(rc_1.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_1.radio_max, DEC);
Serial.print("CH1: ");
Serial.print(rc_1.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_1.radio_max, DEC);
}
void
setup_radio()
{
Serial.println("\n\nRadio Setup:");
uint8_t i;
for(i = 0; i < 100;i++){
delay(20);
read_radio();
}
rc_1.radio_min = rc_1.radio_in;
rc_2.radio_min = rc_2.radio_in;
rc_3.radio_min = rc_3.radio_in;
rc_4.radio_min = rc_4.radio_in;
rc_5.radio_min = rc_5.radio_in;
rc_6.radio_min = rc_6.radio_in;
rc_7.radio_min = rc_7.radio_in;
rc_8.radio_min = rc_8.radio_in;
rc_1.radio_max = rc_1.radio_in;
rc_2.radio_max = rc_2.radio_in;
rc_3.radio_max = rc_3.radio_in;
rc_4.radio_max = rc_4.radio_in;
rc_5.radio_max = rc_5.radio_in;
rc_6.radio_max = rc_6.radio_in;
rc_7.radio_max = rc_7.radio_in;
rc_8.radio_max = rc_8.radio_in;
rc_1.radio_trim = rc_1.radio_in;
rc_2.radio_trim = rc_2.radio_in;
rc_4.radio_trim = rc_4.radio_in;
// 3 is not trimed
rc_5.radio_trim = 1500;
rc_6.radio_trim = 1500;
rc_7.radio_trim = 1500;
rc_8.radio_trim = 1500;
Serial.println("\nMove all controls to each extreme. Hit Enter to save:");
while(1){
delay(20);
// Filters radio input - adjust filters in the radio.pde file
// ----------------------------------------------------------
read_radio();
rc_1.update_min_max();
rc_2.update_min_max();
rc_3.update_min_max();
rc_4.update_min_max();
rc_5.update_min_max();
rc_6.update_min_max();
rc_7.update_min_max();
rc_8.update_min_max();
if(Serial.available() > 0){
//rc_3.radio_max += 250;
Serial.flush();
Serial.println("Radio calibrated, Showing control values:");
break;
}
}
return;
Serial.println("\n\nRadio Setup:");
uint8_t i;
for(i = 0; i < 100; i++) {
delay(20);
read_radio();
}
rc_1.radio_min = rc_1.radio_in;
rc_2.radio_min = rc_2.radio_in;
rc_3.radio_min = rc_3.radio_in;
rc_4.radio_min = rc_4.radio_in;
rc_5.radio_min = rc_5.radio_in;
rc_6.radio_min = rc_6.radio_in;
rc_7.radio_min = rc_7.radio_in;
rc_8.radio_min = rc_8.radio_in;
rc_1.radio_max = rc_1.radio_in;
rc_2.radio_max = rc_2.radio_in;
rc_3.radio_max = rc_3.radio_in;
rc_4.radio_max = rc_4.radio_in;
rc_5.radio_max = rc_5.radio_in;
rc_6.radio_max = rc_6.radio_in;
rc_7.radio_max = rc_7.radio_in;
rc_8.radio_max = rc_8.radio_in;
rc_1.radio_trim = rc_1.radio_in;
rc_2.radio_trim = rc_2.radio_in;
rc_4.radio_trim = rc_4.radio_in;
// 3 is not trimed
rc_5.radio_trim = 1500;
rc_6.radio_trim = 1500;
rc_7.radio_trim = 1500;
rc_8.radio_trim = 1500;
Serial.println("\nMove all controls to each extreme. Hit Enter to save:");
while(1) {
delay(20);
// Filters radio input - adjust filters in the radio.pde file
// ----------------------------------------------------------
read_radio();
rc_1.update_min_max();
rc_2.update_min_max();
rc_3.update_min_max();
rc_4.update_min_max();
rc_5.update_min_max();
rc_6.update_min_max();
rc_7.update_min_max();
rc_8.update_min_max();
if(Serial.available() > 0) {
//rc_3.radio_max += 250;
Serial.flush();
Serial.println("Radio calibrated, Showing control values:");
break;
}
}
return;
}
Write Preview
Loading…
Cancel
Save