Revision eb7af729
Arduino code measures PWM up and PWM down time, and if U+D!= contant, we reject the signal
arduino/RadioBuggyMega/RadioBuggyMega.ino | ||
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* @author Haley Dalzell (haylee) |
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* @author Zach Dawson (zachyzach) |
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* @author Matt Sebek (msebek) |
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*@author |
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*/ |
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#include "receiver.h" |
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#include "brake.h" |
... | ... | |
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static int steer_angle; |
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void loop() { |
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//if(filter_loop(&thr_state, rc_available[THR_INDEX])) { |
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if(rc_available[THR_INDEX]) {
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if(rc_available[AIL_INDEX]) {
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watchdog_feed(); |
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raw_angle = receiver_get_angle(THR_INDEX);
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smoothed_angle = filter_loop(&thr_state, raw_angle);
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steer_angle = convert_rc_to_steering(smoothed_angle);
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raw_angle = receiver_get_angle(AIL_INDEX);
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smoothed_angle = convert_rc_to_steering(raw_angle);
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steer_angle = filter_loop(&ail_state, smoothed_angle);
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steering_set(steer_angle); |
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} |
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//if(filter_loop(&ail_state, rc_available[AIL_INDEX])) { |
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if(rc_available[AIL_INDEX]) {
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if(rc_available[THR_INDEX]) {
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watchdog_feed(); |
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raw_thr = receiver_get_angle(AIL_INDEX);
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smoothed_thr = filter_loop(&ail_state, raw_thr);
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raw_thr = receiver_get_angle(THR_INDEX);
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smoothed_thr = filter_loop(&thr_state, raw_thr);
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// TODO make this code...less...something |
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if(smoothed_thr < 90) { |
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brake_drop(); |
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