ESC Class Reference

#include "mbed.h"
#include "esc.h"

ESC esc1(PTD4);
ESC esc2(PTA12);
ESC esc3(PTA4);
ESC esc4(PTA5);

Serial pc(USBTX, USBRX);    // tx, rx

int main() {
    
    char c;
    int var = 0;

    while(1) {
        c = pc.getc();
        
        if (c == 'u') {
            if (var < 100) {
                var++;
            }
            if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
                printf("%i\r\n", var);
            }
        }
        else if (c == 'd') {
            if (var > 0) {
                var--;
            }
            if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
                printf("%i\r\n", var);
            }
        }
        else if (c == 'r') {
            var = 0;
            if (esc1.setThrottle(var) && esc2.setThrottle(var) && esc3.setThrottle(var) && esc4.setThrottle(var)) {
                printf("%i\r\n", var);                
            }
        }
        
        esc1.pulse();
        esc2.pulse();
        esc3.pulse();
        esc4.pulse();
        wait_ms(20);  // 20ms is the default period of the ESC pwm
    }
}