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  • Committer: dan
  • Date: 2014-04-02 20:11:38 UTC
  • mfrom: (31.1.2 bzr-project)
  • Revision ID: dan-20140402201138-5iy09kxg2pg0m4i5
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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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#include "motors.h"
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#include "testing.h"
 
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#include "comms.h"
 
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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 setup()
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{
 
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        // init subsystems
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        Receiver::setup();
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        Motors::setup();
 
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        Comms::setup();
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        Testing::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 loop()
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{
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        unsigned long channel_values[ NUM_CHANNELS ];
 
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        int motor_values[ NUM_MOTORS ];
 
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        int channel_values[ NUM_CHANNELS ];
 
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        // reset the motor values
 
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        for( int a = 0; a < NUM_MOTORS; a++ )
 
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                motor_values[ a ] = 0;
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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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                }
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//              Motors::update_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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                }
 
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                // update motors
 
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                Motors::update();
 
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                // read channel values from main board
 
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                if( Comms::read_channels( motor_values ) )
 
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                {
 
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                        // set motor speeds
 
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                        Motors::set_values( motor_values );
 
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                }
 
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                // update motors
 
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                Motors::update();
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        }
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}