Revision 5ea63f0d
| ID | 5ea63f0d950a9dca70d33f48d0f0e68a8e28f0d2 |
| Parent | eb7af729 |
Working version before truck weekend
| arduino/RadioBuggyMega/RadioBuggyMega.ino | ||
|---|---|---|
| 74 | 74 |
} |
| 75 | 75 |
|
| 76 | 76 |
int convert_rc_to_steering(int rc_angle) {
|
| 77 |
int out = (rc_angle/4)+(90*3/4)+39; |
|
| 78 |
if(out < 105 || out > 160) {
|
|
| 77 |
//Inverter for 2.4 GHz racecar received |
|
| 78 |
rc_angle = 180-rc_angle; |
|
| 79 |
int out = (rc_angle/4)+(90*3/4)+36; |
|
| 80 |
if(out < 100 || out > 155) {
|
|
| 79 | 81 |
Serial.println("FAKFAKFAK SERVO OUT OF RANGE");
|
| 80 | 82 |
Serial.println(out); |
| 81 |
out = 129;
|
|
| 83 |
out = 125;
|
|
| 82 | 84 |
} |
| 83 | 85 |
return out; |
| 84 | 86 |
} |
| ... | ... | |
| 109 | 111 |
raw_thr = receiver_get_angle(THR_INDEX); |
| 110 | 112 |
smoothed_thr = filter_loop(&thr_state, raw_thr); |
| 111 | 113 |
// TODO make this code...less...something |
| 112 |
if(smoothed_thr < 90) {
|
|
| 114 |
if(smoothed_thr < 70) {
|
|
| 113 | 115 |
brake_drop(); |
| 114 | 116 |
} else {
|
| 115 | 117 |
brake_raise(); |
| arduino/RadioBuggyMega/receiver.c | ||
|---|---|---|
| 26 | 26 |
#define THR_RECEIVER_PIN 3 |
| 27 | 27 |
#define THR_RECEIVER_INT 1 |
| 28 | 28 |
|
| 29 |
#define PWM_TIME 21800 |
|
| 29 |
//For 72 MHz RC reciever |
|
| 30 |
//#define PWM_TIME 21800 |
|
| 31 |
//#define PWM_THRESH 130 |
|
| 32 |
//#define BIG_PULSE 10 |
|
| 33 |
//High pulse lasts over 1/10 of period |
|
| 34 |
//#define SHORT_PULSE 21 |
|
| 35 |
//High pulse lasts under 1/21 of period |
|
| 36 |
|
|
| 37 |
//For 2.4 GHz racecar reciever |
|
| 38 |
#define PWM_TIME 18370 |
|
| 30 | 39 |
#define PWM_THRESH 130 |
| 40 |
#define BIG_PULSE 8 |
|
| 41 |
//High pulse lasts over 1/8 of period |
|
| 42 |
#define SHORT_PULSE 19 |
|
| 43 |
//High pulse lasts under 1/19 of period |
|
| 31 | 44 |
|
| 32 | 45 |
// Defined in receiver.h |
| 33 | 46 |
// #define THR_INDEX 0 |
| ... | ... | |
| 60 | 73 |
rc_value[AIL_INDEX] = (down_switch_time[AIL_INDEX] - |
| 61 | 74 |
up_switch_time[AIL_INDEX]); |
| 62 | 75 |
rc_available[AIL_INDEX] = 1; |
| 63 |
if(rc_value[AIL_INDEX]/(PWM_TIME/10) >= 1 || rc_value[AIL_INDEX]/(PWM_TIME/21) == 0)
|
|
| 76 |
if(rc_value[AIL_INDEX]/(PWM_TIME/BIG_PULSE) >= 1 || rc_value[AIL_INDEX]/(PWM_TIME/SHORT_PULSE) == 0)
|
|
| 64 | 77 |
rc_available[AIL_INDEX] == 0; |
| 65 | 78 |
} |
| 66 | 79 |
} |
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