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Revision 0c873a67

ID0c873a678934d3644224359dbebdfcb750af3f9a
Parent c5d6b0e8
Child 453e1532

Added by Matthew Sebek about 10 years ago

Fixed up all the buggy code.

View differences:

arduino/InterruptSingleChannel/InterruptSingleChannel.ino
1 
// First Example in a series of posts illustrating reading an RC Receiver with
2 
// micro controller interrupts.
3 
//
4 
// Subsequent posts will provide enhancements required for real world operation
5 
// in high speed applications with multiple inputs.
6 
//
7 
// http://rcarduino.blogspot.com/
8 
//
9 
// Posts in the series will be titled - How To Read an RC Receiver With A Microcontroller
10 

  		




  11
  
  
    
// See also http://rcarduino.blogspot.co.uk/2012/04/how-to-read-multiple-rc-channels-draft.html


  		




  12
  
  
    

  		




  13
  
  
    
// Include the servo library


  		




  
  1
  
    
/**


  		




  
  2
  
    
 * @file InterruptSingleChannel.ino


  		




  
  3
  
    
 * @brief Read in RC, then write value to servo.


  		




  
  4
  
    
 */


  		




  14
  5
  
    
#include <Servo.h>


  		




  15
  6
  
    
#include "receiver.h"


  		




  16
  7
  
    

  		




  17
  
  
    
Servo myservo;


  		




  18
  
  
    
// Center is 90


  		




  
  8
  
    
#define STEER_CENTER 129


  		




  
  9
  
    

  		




  
  10
  
    
// 1/RC_STEER_DAMPER times RC_VALUE (0-180)


  		




  
  11
  
    
#define RC_STEER_DAMPER 4


  		




  
  12
  
    
Servo steering_servo;


  		




  19
  13
  
    
int pos = 0;


  		




  
  14
  
    

  		




  20
  15
  
    
// Note the following mapping is used between pins and interrupt numbers:


  		




  21
  16
  
    
//Board	int.0	int.1	int.2	int.3	int.4	int.5


  		




  22
  17
  
    
//Uno, Ethernet	2	3


  		




  ......




  27
  22
  
    
void setup()


  		




  28
  23
  
    
{


  		




  29
  24
  
    
  receiver_init();


  		




  30
  
  
    
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object


  		




  
  25
  
    
  steering_servo.attach(9);  // attaches the servo on pin 9 to the servo object


  		




  31
  26
  
    
  Serial.begin(9600);


  		




  32
  27
  
    
}


  		




  33
  28
  
    

  		




  34
  29
  
    
void loop()


  		




  35
  30
  
    
{


  		




  36
  31
  
    
  static int input = 128;


  		




  37
  
  
    
  if(receiver_new()) {


  		




  38
  
  
    
    input = receiver_get_angle();


  		




  
  32
  
    
  if(rc_available[THR_INDEX]) {


  		




  
  33
  
    
    input = receiver_get_angle(THR_INDEX);


  		




  39
  34
  
    
  }


  		




  40
  35
  
    

  		




  41
  
  
    
  //myservo.write(133+(input-128)/20);


  		




  
  36
  
    
  //steering_servo.write(133+(input-128)/20);


  		




  42
  37
  
    
  // I decided 133 is center


  		




  43
  38
  
    
  // Note that 4 is a damping factor.


  		




  44
  39
  
    
  // 43


  		




  ......




  49
  44
  
    
    out = 129;


  		




  50
  45
  
    
  }


  		




  51
  46
  
    
  Serial.println(out);


  		




  52
  
  
    
  myservo.write(out);


  		




  
  47
  
    
  steering_servo.write(out);


  		




  53
  48
  
    
}


  		




  54
  
  
    

  		




  55
  
  
    

  		












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