File content as of revision 0:c995af692179:

/* mbed ESC Library
 * Copyright (c) 2012 Oleg Evsegneev
 * Released under the MIT License: http://mbed.org/license/mit
 */
 
#include "ESC.h"
#include "mbed.h"

//#define PPM_T 0.0025
#define PPM_T 0.02

ESC::ESC(PinName x1, PinName x2, PinName y1, PinName y2, PinName led): 
    _esc_x1(x1), _esc_x2(x2),
    _esc_y1(y1), _esc_y2(y2),
    _led(led) {
    
    _esca[0] = &_esc_x1;
    _esca[1] = &_esc_x2;
    _esca[2] = &_esc_y1;
    _esca[3] = &_esc_y2;    
}
    
void ESC::set( float x1, float x2, float y1, float y2 ){
    _esca[0]->write(x1);
    _esca[1]->write(x2);
    _esca[2]->write(y1);
    _esca[3]->write(y2);
}

void ESC::stop(){
    set(0.0, 0.0, 0.0, 0.0);
}

void ESC::initialize_(){
    int i;
    
    #ifdef MODE_PPM
    for( i=0; i<4; i++ ){
        // Calibrate Servo signal
        _esca[i]->calibrate(0.0005, 90.0, PPM_T);
        _esca[i]->write(0.0);
    }
    #else
    for( i=0; i<4; i++ ){
        _esca[i]->period_us(250);
    }
    set(0.0, 0.0, 0.0, 0.0);
    #endif

    #ifdef MODE_PWM
    blink(2000);
    set(0.2, 0.2, 0.2, 0.2);
    blink(2000);
    set(0.0, 0.0, 0.0, 0.0);
    #endif

    blink(2000);

   
    #ifdef CIRC_TEST
    for( i=0; i<4; i++ ){
        _esca[i]->write(0.2);
        _led = 1;
        wait(3);
        _esca[i]->write(0.0);
        _led = 0;
        wait(3);
    }
    #endif
}

void ESC::calibrate_(){
    char i;
    
    // Calibrate PWM and set max throttle
    for( i=0; i<4; i++ ){
        #ifdef MODE_PPM
        _esca[i]->calibrate(0.0005, 90.0, PPM_T);
        #endif
        _esca[i]->write(1.0);
    }

    // wait 5 seconds for battery    
    for( i=0; i<50; i++ ){
        wait(0.1);
        _led = !_led;
    }
    
    // wait 2 seconds to confirm max throttle
    _led = 1;
    wait(2);
    _led = 0;

    // set min throttle
    for( i=0; i<4; i++ ){
        _esca[i]->write(0.0);
    }
}

void ESC::blink(uint16_t delay){
    for(char i=0; i<delay/100; i++) {
        _led = 1;
        wait_ms(50);                     
        _led = 0; 
        wait_ms(50);
    }
}