/elec/quadcopter

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

  • Committer: Tim Marston
  • Date: 2014-01-29 22:34:56 UTC
  • Revision ID: tim@ed.am-20140129223456-aees83f0x1ndvdg9
fixed some bugs in rc-interface introduced in the conversion from the motors
test program

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Lines of Context:
src/rc-interface/main.ino
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#include "config.h"
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#include "receiver.h"
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#include "motors.h"
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#include "testing.h"
 
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#include "comms.h"
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void setup()
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{
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        Receiver::setup();
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        Motors::setup();
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        Testing::setup();
 
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        Comms::setup();
 
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        // led
 
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        pinMode( LED_PIN, OUTPUT );
 
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        digitalWrite( LED_PIN, LOW );
 
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}
 
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void flash_led()
 
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{
 
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        static bool on = false;
 
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        on = !on;
 
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        digitalWrite( LED_PIN, on? HIGH : LOW );
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}
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void loop()
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{
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        unsigned long channel_values[ NUM_CHANNELS ];
 
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        int channel_values[ NUM_CHANNELS ];
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        while( true )
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        {
 
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                // have we read a whole set of channel values?
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                if( Receiver::read_channels( channel_values ) )
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                {
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                        Testing::draw_receiver_channels( channel_values );
 
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                        // yes, flash led!
 
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                        flash_led();
 
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                        // send channel values to main board
 
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                        Comms::write_channels( channel_values );
 
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                        // set motor speeds
 
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                        Motors::set_values( channel_values );
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                }
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//              Motors::update_channels( channel_values );
 
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                // update motors
 
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                Motors::update();
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        }
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}