Revision eb7af729
Arduino code measures PWM up and PWM down time, and if U+D!= contant, we reject the signal
| arduino/RadioBuggyMega/RadioBuggyMega.ino | ||
|---|---|---|
| 3 | 3 |
* @author Haley Dalzell (haylee) |
| 4 | 4 |
* @author Zach Dawson (zachyzach) |
| 5 | 5 |
* @author Matt Sebek (msebek) |
| 6 |
*@author |
|
| 6 | 7 |
*/ |
| 7 | 8 |
#include "receiver.h" |
| 8 | 9 |
#include "brake.h" |
| ... | ... | |
| 93 | 94 |
static int steer_angle; |
| 94 | 95 |
|
| 95 | 96 |
void loop() {
|
| 96 |
|
|
| 97 | 97 |
//if(filter_loop(&thr_state, rc_available[THR_INDEX])) {
|
| 98 |
if(rc_available[THR_INDEX]) {
|
|
| 98 |
if(rc_available[AIL_INDEX]) {
|
|
| 99 | 99 |
watchdog_feed(); |
| 100 |
raw_angle = receiver_get_angle(THR_INDEX);
|
|
| 101 |
smoothed_angle = filter_loop(&thr_state, raw_angle);
|
|
| 102 |
steer_angle = convert_rc_to_steering(smoothed_angle);
|
|
| 100 |
raw_angle = receiver_get_angle(AIL_INDEX);
|
|
| 101 |
smoothed_angle = convert_rc_to_steering(raw_angle);
|
|
| 102 |
steer_angle = filter_loop(&ail_state, smoothed_angle);
|
|
| 103 | 103 |
steering_set(steer_angle); |
| 104 | 104 |
} |
| 105 | 105 |
|
| 106 | 106 |
//if(filter_loop(&ail_state, rc_available[AIL_INDEX])) {
|
| 107 |
if(rc_available[AIL_INDEX]) {
|
|
| 107 |
if(rc_available[THR_INDEX]) {
|
|
| 108 | 108 |
watchdog_feed(); |
| 109 |
raw_thr = receiver_get_angle(AIL_INDEX);
|
|
| 110 |
smoothed_thr = filter_loop(&ail_state, raw_thr);
|
|
| 109 |
raw_thr = receiver_get_angle(THR_INDEX);
|
|
| 110 |
smoothed_thr = filter_loop(&thr_state, raw_thr);
|
|
| 111 | 111 |
// TODO make this code...less...something |
| 112 | 112 |
if(smoothed_thr < 90) {
|
| 113 | 113 |
brake_drop(); |
Also available in: Unified diff