Diff: i2c.h

Revision:

0:d463d5c04541

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/i2c.h	Tue Aug 16 05:32:33 2011 +0000
@@ -0,0 +1,76 @@
+
+
+#define ON 8
+#define OFF 0
+#define ESCMax 254
+#define ESCMin 0
+
+const int addr = 0x50; // define the I2C Address
+char bl_FR[2], bl_BR[2], bl_BL[2], bl_FL[2], all, engine, key = 0, key_st = 0;
+short front_r = 0, back_r = 0, front_l = 0, back_l = 0;
+
+void securinit(){  
+  
+    i2c.write(addr+2, 0, 2); // Send command string to Motor Left
+    i2c.write(addr+4, 0, 2); // Send command string  to Motor Back
+    i2c.write(addr+6, 0, 2); // Send command string to Motor Front
+    i2c.write(addr+8, 0, 2); // Send command string   to Motor Right
+    return;  
+}      
+
+void updatei2c(){
+    /*
+    bl_F[0]= all; 
+    bl_B[0]= all;
+    bl_R[0]= all;
+    bl_L[0]= all;
+    */
+    
+    bl_FR[1]= front_r; 
+    bl_BR[1]= back_r;
+    bl_FL[1]= front_l;
+    bl_BL[1]= back_l;
+    
+    i2c.write(addr+2, bl_FR, 2); // Send command string to Motor Left
+    i2c.write(addr+4, bl_BR, 2); // Send command string  to Motor Back
+    i2c.write(addr+6, bl_BL, 2); // Send command string to Motor Front
+    i2c.write(addr+8, bl_FL, 2); // Send command string   to Motor Right
+    return;
+}    
+
+void moteq(){ // motor equation
+    all = 0;
+    
+    if(RC.throttles < 5 && RC.yaws < -200){
+        if(key_st == 0)key = !key;
+        key_st = 1;
+    }
+    else key_st = 0;
+    if(key == 1) engine = ON;
+    else engine = OFF; 
+
+    
+    
+    front_r = engine + alti_con + yaw_con - pitch_con - roll_con; 
+    
+    if(front_r>ESCMax) front_r = ESCMax;
+    else if(front_r<ESCMin+engine) front_r = engine;
+    
+    back_r = engine + alti_con - yaw_con + pitch_con - roll_con;
+    
+    if(back_r>ESCMax) back_r = ESCMax;
+    else if(back_r<ESCMin+engine) back_r = engine;
+        
+    back_l= engine + alti_con + yaw_con + pitch_con + roll_con;
+    
+    if(back_l>ESCMax) back_l = ESCMax;
+    else if(back_l<ESCMin+engine) back_l = engine;
+        
+    front_l = engine + alti_con - yaw_con - pitch_con + roll_con;
+    
+    if(front_l>ESCMax) front_l = ESCMax;
+    else if(front_l<ESCMin+engine) front_l = engine;
+    
+    if(engine == OFF) front_r = back_r = front_l = back_l = 0;
+    
+}    
\ No newline at end of file