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

 */

/* This firmware supports as many servos as possible using the Servo library 

 * included in Arduino 0017

 *

 * TODO add message to configure minPulse/maxPulse/degrees

 *

 * This example code is in the public domain.

 */

#include <Servo.h>

#include <Firmata.h>

Servo servos[MAX_SERVOS];

void analogWriteCallback(byte pin, int value)

{

    if (IS_PIN_SERVO(pin)) {

        servos[PIN_TO_SERVO(pin)].write(value);

    }

}

void setup() 

{

    byte pin;

    Firmata.setFirmwareVersion(0, 2);

    Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);

    for (pin=0; pin < TOTAL_PINS; pin++) {

        if (IS_PIN_SERVO(pin)) {

	    servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));

        }

    }

    Firmata.begin(57600);

}

void loop() 

{

    while(Firmata.available())

        Firmata.processInput();

}