/elec/quadcopter

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

  • Committer: dan
  • Date: 2016-04-10 13:36:22 UTC
  • Revision ID: dan-20160410133622-eagrslv007bj3loz
Updated Megashield project after long time

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src/rc-interface/main.ino
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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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        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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        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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                        // 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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                        // 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( channel_values );
 
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                        Motors::set_values( motor_values );
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                }
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                // update motors