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

mission-4.1.18
uncrustify 13 years ago committed by Pat Hickey
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13e0dd2c70
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b2ade84dbb
1 changed files with 205 additions and 205 deletions
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  1. 410
      libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde

410
libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
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@ -1,20 +1,20 @@ @@ -1,20 +1,20 @@
/*
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 <FastSerial.h>
#include <AP_Common.h> // ArduPilot Mega Common Library
#include <AP_Common.h> // ArduPilot Mega Common Library
#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
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <RC_Channel.h> // ArduPilot Mega RC Library
// define APM1 or APM2
#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2
#define APM_HARDWARE_APM1 1
#define APM_HARDWARE_APM2 2
// set your hardware type here
#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
@ -37,9 +37,9 @@ FastSerialPort3(Serial3); // Telemetry port @@ -37,9 +37,9 @@ FastSerialPort3(Serial3); // Telemetry port
// RC Hardware
////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
APM_RC_APM2 APM_RC;
APM_RC_APM2 APM_RC;
#else
APM_RC_APM1 APM_RC;
APM_RC_APM1 APM_RC;
#endif
RC_Channel rc_1;
@ -62,219 +62,219 @@ RC_Channel rc_8; @@ -62,219 +62,219 @@ RC_Channel rc_8;
void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot RC Channel test");
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_3.scale_output = .8; // gives more dynamic range to quads
rc_4.set_angle(6000);
rc_4.set_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++){
read_radio();
}
rc_1.trim();
rc_2.trim();
rc_4.trim();
Serial.begin(115200);
Serial.println("ArduPilot RC Channel test");
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_3.scale_output = .8; // gives more dynamic range to quads
rc_4.set_angle(6000);
rc_4.set_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++) {
read_radio();
}
rc_1.trim();
rc_2.trim();
rc_4.trim();
}
void loop()
void loop()
{
delay(20);
read_radio();
print_pwm();
delay(20);
read_radio();
print_pwm();
}
void read_radio()
{
rc_1.set_pwm(APM_RC.InputCh(CH_1));
rc_2.set_pwm(APM_RC.InputCh(CH_2));
rc_3.set_pwm(APM_RC.InputCh(CH_3));
rc_4.set_pwm(APM_RC.InputCh(CH_4));
rc_5.set_pwm(APM_RC.InputCh(CH_5));
rc_6.set_pwm(APM_RC.InputCh(CH_6));
rc_7.set_pwm(APM_RC.InputCh(CH_7));
rc_8.set_pwm(APM_RC.InputCh(CH_8));
//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in);
rc_1.set_pwm(APM_RC.InputCh(CH_1));
rc_2.set_pwm(APM_RC.InputCh(CH_2));
rc_3.set_pwm(APM_RC.InputCh(CH_3));
rc_4.set_pwm(APM_RC.InputCh(CH_4));
rc_5.set_pwm(APM_RC.InputCh(CH_5));
rc_6.set_pwm(APM_RC.InputCh(CH_6));
rc_7.set_pwm(APM_RC.InputCh(CH_7));
rc_8.set_pwm(APM_RC.InputCh(CH_8));
//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in);
}
void print_pwm()
{
Serial.print("ch1 ");
Serial.print(rc_1.control_in, DEC);
Serial.print("\tch2: ");
Serial.print(rc_2.control_in, DEC);
Serial.print("\tch3 :");
Serial.print(rc_3.control_in, DEC);
Serial.print("\tch4 :");
Serial.print(rc_4.control_in, DEC);
Serial.print("\tch5 :");
Serial.print(rc_5.control_in, DEC);
Serial.print("\tch6 :");
Serial.print(rc_6.control_in, DEC);
Serial.print("\tch7 :");
Serial.print(rc_7.control_in, DEC);
Serial.print("\tch8 :");
Serial.println(rc_8.control_in, DEC);
Serial.print("ch1 ");
Serial.print(rc_1.control_in, DEC);
Serial.print("\tch2: ");
Serial.print(rc_2.control_in, DEC);
Serial.print("\tch3 :");
Serial.print(rc_3.control_in, DEC);
Serial.print("\tch4 :");
Serial.print(rc_4.control_in, DEC);
Serial.print("\tch5 :");
Serial.print(rc_5.control_in, DEC);
Serial.print("\tch6 :");
Serial.print(rc_6.control_in, DEC);
Serial.print("\tch7 :");
Serial.print(rc_7.control_in, DEC);
Serial.print("\tch8 :");
Serial.println(rc_8.control_in, 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("CH2: ");
Serial.print(rc_2.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_2.radio_max, DEC);
Serial.print("CH3: ");
Serial.print(rc_3.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_3.radio_max, DEC);
Serial.print("CH4: ");
Serial.print(rc_4.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_4.radio_max, DEC);
Serial.print("CH5: ");
Serial.print(rc_5.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_5.radio_max, DEC);
Serial.print("CH6: ");
Serial.print(rc_6.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_6.radio_max, DEC);
Serial.print("CH7: ");
Serial.print(rc_7.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_7.radio_max, DEC);
Serial.print("CH8: ");
Serial.print(rc_8.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_8.radio_max, DEC);
Serial.print("CH1: ");
Serial.print(rc_1.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_1.radio_max, DEC);
Serial.print("CH2: ");
Serial.print(rc_2.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_2.radio_max, DEC);
Serial.print("CH3: ");
Serial.print(rc_3.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_3.radio_max, DEC);
Serial.print("CH4: ");
Serial.print(rc_4.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_4.radio_max, DEC);
Serial.print("CH5: ");
Serial.print(rc_5.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_5.radio_max, DEC);
Serial.print("CH6: ");
Serial.print(rc_6.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_6.radio_max, DEC);
Serial.print("CH7: ");
Serial.print(rc_7.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_7.radio_max, DEC);
Serial.print("CH8: ");
Serial.print(rc_8.radio_min, DEC);
Serial.print(" | ");
Serial.println(rc_8.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;
}
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