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remove RC_Channel2 test sketch: deprecated by AP_HAL

mission-4.1.18
Pat Hickey 12 years ago committed by Andrew Tridgell
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c4b8959202
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1 changed files with 0 additions and 226 deletions
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  1. 226
      libraries/RC_Channel/examples/RC_Channel2/RC_Channel2.pde

226
libraries/RC_Channel/examples/RC_Channel2/RC_Channel2.pde
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/*
* Example of RC_Channel library.
* Code by Jason Short. 2010
* DIYDrones.com
*
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <RC_Channel.h> // ArduPilot Mega RC Library
// set your hardware type here
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
#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 Hardware
////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
#endif
Arduino_Mega_ISR_Registry isr_registry;
RC_Channel rc_1(EE_RADIO_1);
RC_Channel rc_2(EE_RADIO_2);
RC_Channel rc_3(EE_RADIO_3);
RC_Channel rc_4(EE_RADIO_4);
RC_Channel rc_5(EE_RADIO_5);
RC_Channel rc_6(EE_RADIO_6);
RC_Channel rc_7(EE_RADIO_7);
RC_Channel rc_8(EE_RADIO_8);
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
void setup()
{
Serial.begin(38400);
Serial.println("ArduPilot RC Channel test");
isr_registry.init();
APM_RC.Init( &isr_registry ); // 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.set_dead_zone(80);
rc_2.set_angle(4500);
rc_2.set_dead_zone(80);
rc_3.set_range(0,1000);
rc_3.set_dead_zone(20);
rc_4.set_angle(6000);
rc_4.set_dead_zone(500);
rc_5.set_range(0,1000);
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()
{
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));
}
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);
}
void
print_radio_values()
{
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;
}
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