Revision 0c80370b
Added struct filter_state, so we can filter multiple signals
| arduino/RadioBuggyMega/RadioBuggyMega.ino | ||
|---|---|---|
| 32 | 32 |
static char data; // used to pass things into xbee |
| 33 | 33 |
static unsigned long last_time; |
| 34 | 34 |
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| 35 |
// Initialize filter for |
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| 36 |
struct filter_state ail_state; |
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| 37 |
struct filter_state thr_state; |
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| 35 | 38 |
|
| 36 | 39 |
#define LED_DANGER_PIN 12 |
| 37 | 40 |
|
| ... | ... | |
| 45 | 48 |
digitalWrite(LED_DANGER_PIN, HIGH); |
| 46 | 49 |
} |
| 47 | 50 |
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| 51 |
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| 52 |
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| 48 | 53 |
void setup() {
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| 49 | 54 |
Serial.begin(9600); |
| 50 | 55 |
Serial1.begin(9600); |
| ... | ... | |
| 54 | 59 |
// Initialize Buggy |
| 55 | 60 |
// Pins 2 and 3: pin 2 is thr, pin 3 is ail |
| 56 | 61 |
receiver_init(); |
| 62 |
filter_init(&ail_state); |
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| 63 |
filter_init(&thr_state); |
|
| 57 | 64 |
watchdog_init(TIME_THRESH, &watchdog_fail); |
| 58 | 65 |
brake_init(BRAKE_PIN, BRAKE_INDICATOR_PIN); |
| 59 | 66 |
steering_init(STEERING_PIN, 120, 133, 145); |
| ... | ... | |
| 85 | 92 |
|
| 86 | 93 |
void loop() {
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| 87 | 94 |
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if(filter(rc_available[THR_INDEX])) {
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| 95 |
if(filter_loop(&thr_state, rc_available[THR_INDEX])) {
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|
| 89 | 96 |
watchdog_feed(); |
| 90 | 97 |
rc_angle = receiver_get_angle(THR_INDEX); |
| 91 | 98 |
steer_angle = convert_rc_to_steering(rc_angle); |
| 92 | 99 |
steering_set(steer_angle); |
| 93 | 100 |
} |
| 94 | 101 |
|
| 95 |
if(filter(rc_available[AIL_INDEX])) {
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| 102 |
if(filter_loop(&ail_state, rc_available[AIL_INDEX])) {
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|
| 96 | 103 |
watchdog_feed(); |
| 97 | 104 |
rc_thr = receiver_get_angle(AIL_INDEX); |
| 98 | 105 |
// TODO make this code...less...something |
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