/elec/quadcopter

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Viewing changes to src/rc-interface/motors.cc

  • 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/motors.cc
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void Motors::setup()
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{
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        // setup outputs
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        for( int pin = FIRST_PIN; pin < FIRST_PIN + NUM_CHANNELS; pin++ ) {
 
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        for( int pin = FIRST_PIN; pin < FIRST_PIN + NUM_MOTORS; pin++ ) {
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                pinMode( pin, OUTPUT );
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                digitalWrite( pin, LOW );
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        }
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void Motors::update()
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{
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        static int event = NUM_CHANNELS * 2;
 
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        static int event = NUM_MOTORS * 2;
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        unsigned long now = micros();
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        static unsigned long frame_start = now - FRAME_DURATION;
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        static unsigned long next_event_at;
 
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        static unsigned long next_event_at = 0;
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        if( now >= next_event_at )
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        {
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                // action event
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                digitalWrite( FIRST_PIN + ( event / 2 ), ( event & 1 )? LOW : HIGH );
 
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                if( event < NUM_MOTORS * 2 )
 
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                        digitalWrite( FIRST_PIN + ( event / 2 ),
 
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                                ( event & 1 )? LOW : HIGH );
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                // move to next event
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                if( ++event >= NUM_CHANNELS * 2 ) {
 
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                if( ++event >= NUM_MOTORS * 2 ) {
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                        event = 0;
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                        frame_start += FRAME_DURATION;
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                }