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37 lines
741 B
37 lines
741 B
/* |
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simple test of RC output interface |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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void setup (void) |
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{ |
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hal.console->println("Starting AP_HAL::RCOutput test"); |
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for (uint8_t i=0; i<14; i++) { |
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hal.rcout->enable_ch(i); |
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} |
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} |
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static uint16_t pwm = 1500; |
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static int8_t delta = 1; |
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void loop (void) |
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{ |
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uint8_t i; |
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for (i=0; i<14; i++) { |
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hal.rcout->write(i, pwm); |
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pwm += delta; |
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if (delta > 0 && pwm >= 2000) { |
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delta = -1; |
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hal.console->printf("reversing\n"); |
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} else if (delta < 0 && pwm <= 1000) { |
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delta = 1; |
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hal.console->printf("reversing\n"); |
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} |
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} |
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hal.scheduler->delay(5); |
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} |
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AP_HAL_MAIN();
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