Karim Azzouz / RC

Used to read incoming PWM signals from RC channels

Dependents:   A-Quad

Diff: PulseIn.cpp

Revision:
1:eaf70ff4df07
Parent:
0:1a57c7f88422
Child:
2:4abac72addb7
--- a/PulseIn.cpp	Wed Dec 19 08:06:23 2012 +0000
+++ b/PulseIn.cpp	Sun Dec 23 23:49:18 2012 +0000
@@ -8,21 +8,31 @@
     _duration=0;
     
 }
- 
+
+
 int PulseIn::read()
 {
     return _duration;
 }
  
+ int PulseIn::getAngle(){
+ 
+  return 30*(1500-_duration)/500; // Scale (1000--->1500 and 1500--->2000) to +/- 30 degrees range 
+ 
+ }
+ 
 void PulseIn::rise()
-{
+{   
     t.start();
 }
  
 void PulseIn::fall()
 {
     t.stop();
-    _duration = t.read_us();
-    t.reset();
+    uint16_t test = t.read_us();
+    if(test >= 1000 && test <=2000){
+    _prev=_duration;
+    _duration = (_prev * (1.0 - 0.3) + (t.read_us() * 0.3)); // Filter Data 
+    }
+    t.reset(); 
 }
- 
\ No newline at end of file