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  • Committer: Tim Marston
  • Date: 2014-02-19 22:35:05 UTC
  • Revision ID: tim@ed.am-20140219223505-gtci1g8r2o3dsiha
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src/rc-interface/main.ino
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//            ___    |    |    |    |    |    |    |    |     ___
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//    GND ---|___|---+----+----+----+    +----+----+----+----|___|--- GND
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//             R                    |    |                     R
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//             ____________________ | __ | _____________________
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//                                  |    |
 
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//         ________________________ | __ | _____________________
 
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//         ARDUINO                  |    |
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//                           pin 2  o    o  pin 3
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//                    (interrupt 0)        (interrupt 1)
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//
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//
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// Note that your receiver may not send pulses sequentially, in "channel order".
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// If this turns out to be the case, you will need to arrange for the pulses to
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// wire up the channels in an order whereby the pulses alternatively alternately
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// between the two interrupts and adjust the channel order below.
 
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// wire up the channels in an order whereby the pulses arrive alternately
 
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// between the two interrupts and adjust the channel order in config.h.
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//
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// Motor control
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// -------------
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//
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// 
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// The four motor control outputs should be fed directly to the ESCs.
 
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//
 
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//                            ESC  ESC  ESC  ESC
 
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//                             o    o    o    o
 
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//                             |    |    |    |
 
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//         ___________________ | __ | __ | __ | _____
 
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//         ARDUINO             |    |    |    |
 
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//                      pin 4  o    o    o    o  pin 7
 
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//
 
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// SERIAL INTERFACE
 
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// ----------------
 
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//
 
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// The serial interface (pins 0 and 1) talk a very simple protocol.  When a
 
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// complete set of 8 channel values have been read, it writes 0xffff followed by
 
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// the 8, 16-bit unsigned channel values.  It expects to recieve 0xffff,
 
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// followed by 4, 16-bit unsigned channel values.  All channel values are in the
 
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// range specified in config.h.
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#include "config.h"
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#include "receiver.h"
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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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                        // update motors
 
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                        Motors::update();
 
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                        // yes, flash led!
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                        flash_led();
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