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

  • Committer: Tim Marston
  • Date: 2014-04-16 20:22:13 UTC
  • Revision ID: tim@ed.am-20140416202213-44e23tntae11r94o
mega-shield project: fixed-up two more tracks

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src/rc-interface/motors.cc
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#include "motors.h"
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#include "config.h"
 
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#include "common.h"
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#include <Arduino.h>
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#include <limits.h>
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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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                }
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                //      Serial.println( width );
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                // }
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        }
 
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        // else, if an event is coming up soon, sleep and service the event to make
 
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        // sure that no other code runs and blocks us!
 
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        else
 
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        {
 
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                long delay = calculate_duration( now, next_event_at );
 
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                if( delay < 250 )
 
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                {
 
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                        if( delay > 20 )
 
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                                delayMicroseconds( delay - 20 );
 
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                        update();
 
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                }
 
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        }
 
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}