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 reads all inputs and sends them as fast as it can.  It was

 * inspired by the ease-of-use of the Arduino2Max program.

 *

 * This example code is in the public domain.

 */

#include <Firmata.h>

byte pin;

int analogValue;

int previousAnalogValues[TOTAL_ANALOG_PINS];

byte portStatus[TOTAL_PORTS];	// each bit: 1=pin is digital input, 0=other/ignore

byte previousPINs[TOTAL_PORTS];

/* timer variables */

unsigned long currentMillis;     // store the current value from millis()

unsigned long previousMillis;    // for comparison with currentMillis

/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you

   get long, random delays.  So only read analogs every 20ms or so */

int samplingInterval = 19;      // how often to run the main loop (in ms)

void sendPort(byte portNumber, byte portValue)

{

  portValue = portValue & portStatus[portNumber];

  if(previousPINs[portNumber] != portValue) {

    Firmata.sendDigitalPort(portNumber, portValue);

    previousPINs[portNumber] = portValue;

  }

}

void setup()

{

  byte i, port, status;

  Firmata.setFirmwareVersion(0, 1);

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

    if IS_PIN_DIGITAL(pin) pinMode(PIN_TO_DIGITAL(pin), INPUT);

  }

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

    status = 0;

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

      if (IS_PIN_DIGITAL(port * 8 + i)) status |= (1 << i);

    }

    portStatus[port] = status;

  }

  Firmata.begin(57600);

}

void loop()

{

  byte i;

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

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

  }

  /* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you

     get long, random delays.  So only read analogs every 20ms or so */

  currentMillis = millis();

  if(currentMillis - previousMillis > samplingInterval) {

    previousMillis += samplingInterval;

    while(Firmata.available()) {

      Firmata.processInput();

    }

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

      analogValue = analogRead(pin);

      if(analogValue != previousAnalogValues[pin]) {

        Firmata.sendAnalog(pin, analogValue); 

        previousAnalogValues[pin] = analogValue;

      }

    }

  }

}