/elec/quadcopter

To get this branch, use:
bzr branch http://bzr.ed.am/elec/quadcopter

« back to all changes in this revision

Viewing changes to src/rc-interface/main.ino

  • Committer: Tim Marston
  • Date: 2014-01-22 23:55:10 UTC
  • Revision ID: tim@ed.am-20140122235510-dcru5aea679wyk7c
added python GTK test program that reads and displays the serial data from the
RC interface software

Show diffs side-by-side

added added

removed removed

Lines of Context:
src/rc-interface/main.ino
24
24
//            ___    |    |    |    |    |    |    |    |     ___
25
25
//    GND ---|___|---+----+----+----+    +----+----+----+----|___|--- GND
26
26
//             R                    |    |                     R
27
 
//         ________________________ | __ | _____________________
28
 
//         ARDUINO                  |    |
 
27
//             ____________________ | __ | _____________________
 
28
//                                  |    |
29
29
//                           pin 2  o    o  pin 3
30
30
//                    (interrupt 0)        (interrupt 1)
31
31
//
34
34
//
35
35
// Note that your receiver may not send pulses sequentially, in "channel order".
36
36
// If this turns out to be the case, you will need to arrange for the pulses to
37
 
// wire up the channels in an order whereby the pulses arrive alternately
38
 
// between the two interrupts and adjust the channel order in config.h.
 
37
// wire up the channels in an order whereby the pulses alternatively alternately
 
38
// between the two interrupts and adjust the channel order below.
39
39
//
40
40
// Motor control
41
41
// -------------
42
42
//
43
 
// The four motor control outputs should be fed directly to the ESCs.
44
 
//
45
 
//                            ESC  ESC  ESC  ESC
46
 
//                             o    o    o    o
47
 
//                             |    |    |    |
48
 
//         ___________________ | __ | __ | __ | _____
49
 
//         ARDUINO             |    |    |    |
50
 
//                      pin 4  o    o    o    o  pin 7
51
 
//
52
 
// SERIAL INTERFACE
53
 
// ----------------
54
 
//
55
 
// The serial interface (pins 0 and 1) talk a very simple protocol.  When a
56
 
// complete set of 8 channel values have been read, it writes 0xffff followed by
57
 
// the 8, 16-bit unsigned channel values.  It expects to recieve 0xffff,
58
 
// followed by 4, 16-bit unsigned channel values.  All channel values are in the
59
 
// range specified in config.h.
 
43
// 
 
44
 
60
45
 
61
46
#include "config.h"
62
47
#include "receiver.h"
93
78
                // have we read a whole set of channel values?
94
79
                if( Receiver::read_channels( channel_values ) )
95
80
                {
96
 
                        // update motors
97
 
                        Motors::update();
98
 
 
99
81
                        // yes, flash led!
100
82
                        flash_led();
101
83