Diff: main.cpp

Revision:

11:ec79564cf265

Parent:

7:70161eb0f854

Child:

12:06891de5c601

--- a/main.cpp	Thu Jan 21 15:50:49 2021 +0000
+++ b/main.cpp	Thu Jan 28 03:32:13 2021 +0000
@@ -37,10 +37,10 @@
         pc.printf("rc2 :%f ", rc1);
         int pwmMax = 1800;
         int pwmMin = 1200;
-        out1 = map((int)(rc1*1000.0f),-1000,1000,pwmMin,pwmMax);
+        out1 = map((int)(rc1*2000.0f),-2000,2000,pwmMin,pwmMax);
         if(out1<pwmMin){out1 = pwmMin;};
         if(out1>pwmMax){out1 = pwmMax;};
-        out2 = map((int)(rc2*1000.0f),-1000,1000,pwmMin,pwmMax);
+        out2 = map((int)(rc2*2000.0f),-2000,2000,pwmMin,pwmMax);
         if(out2<pwmMin){out2 = pwmMin;};
         if(out2>pwmMax){out2 = pwmMax;};
         
@@ -63,10 +63,12 @@
     servo2.period(0.020);
     LoopTicker timer_SBUS;
     LoopTicker timer_Gyro;
-    timer_SBUS.attach(interrupt_SBUS, 0.020);
+    timer_SBUS.attach(interrupt_SBUS, 0.015);
     timer_Gyro.attach(interrupt_Gyro, 0.5);
     while(1) {
         timer_SBUS.loop();
-        timer_SBUS.loop();
+        timer_Gyro.loop();
+//        interrupt_SBUS();
+        interrupt_Gyro();
     }
 }
\ No newline at end of file