RoboBuggy

/**

 * @file InterruptSingleChannel.ino

 * @brief Read in RC, then write value to servo.

 */

#include <Servo.h>

#include "receiver.h"

#define STEER_CENTER 129

// 1/RC_STEER_DAMPER times RC_VALUE (0-180)

#define RC_STEER_DAMPER 4

Servo steering_servo;

int pos = 0;

// Note the following mapping is used between pins and interrupt numbers:

//Board	int.0	int.1	int.2	int.3	int.4	int.5

//Uno, Ethernet	2	3

//Mega2560	2	3	21	20	19	18

//Leonardo	3	2	0	1	7

//Due	(see below)

void setup()

{

  receiver_init();

  steering_servo.attach(9);  // attaches the servo on pin 9 to the servo object

  Serial.begin(9600);

}

void loop()

{

  static int input = 128;

  if(rc_available[THR_INDEX]) {

    input = receiver_get_angle(THR_INDEX);

  }

  //steering_servo.write(133+(input-128)/20);

  // I decided 133 is center

  // Note that 4 is a damping factor.

  // 43

  int out = (input/4)+(90*3/4)+39;

  if(out < 105 || out > 160) {

    Serial.println("FAKFAKFAK SERVO OUT OF RANGE");

    Serial.println(out);

    out = 129;

  }

  Serial.println(out);

  steering_servo.write(out);

}