Quadrotor

/*

 * Firmata is a generic protocol for communicating with microcontrollers

 * from software on a host computer. It is intended to work with

 * any host computer software package.

 *

 * To download a host software package, please clink on the following link

 * to open the download page in your default browser.

 *

 * http://firmata.org/wiki/Download

 */

/* Supports as many digital inputs and outputs as possible.

 *

 * This example code is in the public domain.

 */

#include <Firmata.h>

byte previousPIN[TOTAL_PORTS];  // PIN means PORT for input

byte previousPORT[TOTAL_PORTS]; 

void outputPort(byte portNumber, byte portValue)

{

    // only send the data when it changes, otherwise you get too many messages!

    if (previousPIN[portNumber] != portValue) {

        Firmata.sendDigitalPort(portNumber, portValue); 

        previousPIN[portNumber] = portValue;

    }

}

void setPinModeCallback(byte pin, int mode) {

    if (IS_PIN_DIGITAL(pin)) {

        pinMode(PIN_TO_DIGITAL(pin), mode);

    }

}

void digitalWriteCallback(byte port, int value)

{

    byte i;

    byte currentPinValue, previousPinValue;

    if (port < TOTAL_PORTS && value != previousPORT[port]) {

        for(i=0; i<8; i++) {

            currentPinValue = (byte) value & (1 << i);

            previousPinValue = previousPORT[port] & (1 << i);

            if(currentPinValue != previousPinValue) {

                digitalWrite(i + (port*8), currentPinValue);

            }

        }

        previousPORT[port] = value;

    }

}

void setup()

{

    Firmata.setFirmwareVersion(0, 1);

    Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);

    Firmata.attach(SET_PIN_MODE, setPinModeCallback);

    Firmata.begin(57600);

}

void loop()

{

    byte i;

    for (i=0; i<TOTAL_PORTS; i++) {

        outputPort(i, readPort(i, 0xff));

    }

    while(Firmata.available()) {

        Firmata.processInput();

    }

}