hige dura / Mbed 2 deprecated RC_reciever

RC_reciever

Dependencies:   mbed RC_reciever

Dependents:   RC_reciever

main.cpp@1:16b2e229b739, 2012-12-08 (annotated)

Committer:
higedura
Date:
Sat Dec 08 23:52:11 2012 +0000
Revision:
1:16b2e229b739
Parent:
0:18d415e9d13b
Child:
2:8c428bae83a8
RC_reciever

Who changed what in which revision?

UserRevisionLine numberNew contents of line
higedura 1:16b2e229b739 1 #include "mbed.h"
higedura 1:16b2e229b739 2 #include "TextLCD.h"
higedura 1:16b2e229b739 3
higedura 1:16b2e229b739 4 #define chan 6 // the numbers of channels
higedura 1:16b2e229b739 5
higedura 1:16b2e229b739 6 Serial pc(USBTX, USBRX);
higedura 1:16b2e229b739 7 DigitalOut led1(LED1);
higedura 1:16b2e229b739 8 DigitalOut led2(LED2);
higedura 1:16b2e229b739 9 DigitalOut led3(LED3);
higedura 1:16b2e229b739 10 DigitalOut led4(LED4);
higedura 1:16b2e229b739 11
higedura 1:16b2e229b739 12 Serial xbee(p9,p10); // tx, rx
higedura 1:16b2e229b739 13
higedura 1:16b2e229b739 14 InterruptIn ch1(p13); // yaw
higedura 1:16b2e229b739 15 InterruptIn ch2(p14); // pitch
higedura 1:16b2e229b739 16 InterruptIn ch3(p15); // throttle
higedura 1:16b2e229b739 17 InterruptIn ch4(p16); // roll
higedura 1:16b2e229b739 18 //InterruptIn ch5(p17); // aux1
higedura 1:16b2e229b739 19 //InterruptIn ch6(p18); // aux2
higedura 1:16b2e229b739 20 /*
higedura 1:16b2e229b739 21 InterruptIn ch1(p5); // yaw
higedura 1:16b2e229b739 22 InterruptIn ch2(p6); // pitch
higedura 1:16b2e229b739 23 InterruptIn ch3(p7); // throttle
higedura 1:16b2e229b739 24 InterruptIn ch4(p8); // roll
higedura 1:16b2e229b739 25 InterruptIn ch5(p9); // aux1
higedura 1:16b2e229b739 26 InterruptIn ch6(p10); // aux2
higedura 1:16b2e229b739 27 TextLCD lcd(p24, p26, p27, p28, p29, p30);
higedura 1:16b2e229b739 28 */
higedura 1:16b2e229b739 29 void thro_up(); void roll_up(); void pitch_up(); void yaw_up(); void aux1_up(); void aux2_up();
higedura 1:16b2e229b739 30 void thro_down(); void roll_down(); void pitch_down(); void yaw_down(); void aux1_down(); void aux2_down();
higedura 1:16b2e229b739 31
higedura 1:16b2e229b739 32 Timer t_thro; Timer t_roll; Timer t_pitch; Timer t_yaw; Timer t_aux1; Timer t_aux2;
higedura 1:16b2e229b739 33
higedura 1:16b2e229b739 34 // thro roll pitch yaw aux1 aux2
higedura 1:16b2e229b739 35 int pwm_pulse[chan] = {0, 0, 0, 0, 0, 0};
higedura 1:16b2e229b739 36
higedura 1:16b2e229b739 37 int main() {
higedura 1:16b2e229b739 38
higedura 1:16b2e229b739 39 pc.baud(921600);
higedura 1:16b2e229b739 40 xbee.baud(115200);
higedura 1:16b2e229b739 41
higedura 1:16b2e229b739 42 //lcd.locate(0, 0); lcd.printf("StarBoard Orange");
higedura 1:16b2e229b739 43 //lcd.locate(0, 1); lcd.printf("mbed NXP LPC1768");
higedura 1:16b2e229b739 44 //wait(1); lcd.cls();
higedura 1:16b2e229b739 45
higedura 1:16b2e229b739 46 //xbee.printf("\n\r\n\rRC reciever\n\r");
higedura 1:16b2e229b739 47
higedura 1:16b2e229b739 48 // Reciever function
higedura 1:16b2e229b739 49 ch1.rise(&yaw_up); ch1.fall(&yaw_down);
higedura 1:16b2e229b739 50 ch2.rise(&pitch_up); ch2.fall(&pitch_down);
higedura 1:16b2e229b739 51 ch3.rise(&thro_up); ch3.fall(&thro_down);
higedura 1:16b2e229b739 52 ch4.rise(&roll_up); ch4.fall(&roll_down);
higedura 1:16b2e229b739 53 //ch5.rise(&aux1_up); ch5.fall(&aux1_down);
higedura 1:16b2e229b739 54 //ch6.rise(&aux2_up); ch6.fall(&aux2_down);
higedura 1:16b2e229b739 55
higedura 1:16b2e229b739 56 while(1) {
higedura 1:16b2e229b739 57
higedura 1:16b2e229b739 58 for( int i=0;i<4;i++ ){ xbee.printf("%d ", pwm_pulse[i]); }
higedura 1:16b2e229b739 59 xbee.printf("\r\n\r\n");
higedura 1:16b2e229b739 60
higedura 1:16b2e229b739 61 //for( int i=0;i<4;i++ ){ pc.printf("%d ", pwm_pulse[i]); }
higedura 1:16b2e229b739 62 //pc.printf("\r\n\r\n");
higedura 1:16b2e229b739 63
higedura 1:16b2e229b739 64 //lcd.locate(0, 0);
higedura 1:16b2e229b739 65 //lcd.printf("%4d %4d %4d",pwm_pulse[0], pwm_pulse[1], pwm_pulse[2]);
higedura 1:16b2e229b739 66 //lcd.locate(0, 1);
higedura 1:16b2e229b739 67 //lcd.printf("%4d %4d %4d",pwm_pulse[3], pwm_pulse[4], pwm_pulse[5]);
higedura 1:16b2e229b739 68 //lcd.cls();
higedura 1:16b2e229b739 69
higedura 1:16b2e229b739 70 wait(.1);
higedura 1:16b2e229b739 71
higedura 1:16b2e229b739 72 }
higedura 1:16b2e229b739 73 }
higedura 1:16b2e229b739 74
higedura 1:16b2e229b739 75 void thro_up(){ t_thro.start(); }
higedura 1:16b2e229b739 76 void roll_up(){ t_roll.start(); }
higedura 1:16b2e229b739 77 void pitch_up(){ t_pitch.start(); }
higedura 1:16b2e229b739 78 void yaw_up(){ t_yaw.start(); }
higedura 1:16b2e229b739 79 //void aux1_up(){ t_aux1.start(); }
higedura 1:16b2e229b739 80 //void aux2_up(){ t_aux2.start(); }
higedura 1:16b2e229b739 81
higedura 1:16b2e229b739 82 void thro_down(){
higedura 1:16b2e229b739 83 t_thro.stop();
higedura 1:16b2e229b739 84 pwm_pulse[0] = (int)(t_thro.read()*1000000-1000);
higedura 1:16b2e229b739 85 t_thro.reset();
higedura 1:16b2e229b739 86 }
higedura 1:16b2e229b739 87
higedura 1:16b2e229b739 88 void roll_down(){
higedura 1:16b2e229b739 89 t_roll.stop();
higedura 1:16b2e229b739 90 pwm_pulse[1] = (int)(t_roll.read()*1000000-1000);
higedura 1:16b2e229b739 91 t_roll.reset();
higedura 1:16b2e229b739 92 }
higedura 1:16b2e229b739 93
higedura 1:16b2e229b739 94 void pitch_down(){
higedura 1:16b2e229b739 95 t_pitch.stop();
higedura 1:16b2e229b739 96 pwm_pulse[2] = (int)(t_pitch.read()*1000000-1000);
higedura 1:16b2e229b739 97 t_pitch.reset();
higedura 1:16b2e229b739 98 }
higedura 1:16b2e229b739 99
higedura 1:16b2e229b739 100 void yaw_down(){
higedura 1:16b2e229b739 101 t_yaw.stop();
higedura 1:16b2e229b739 102 pwm_pulse[3] = (int)(t_yaw.read()*1000000-1000);
higedura 1:16b2e229b739 103 t_yaw.reset();
higedura 1:16b2e229b739 104 }
higedura 1:16b2e229b739 105 /*
higedura 1:16b2e229b739 106 void aux1_down(){
higedura 1:16b2e229b739 107 t_aux1.stop();
higedura 1:16b2e229b739 108 pwm_pulse[4] = (int)(t_aux1.read()*1000000-1000);
higedura 1:16b2e229b739 109 t_aux1.reset();
higedura 1:16b2e229b739 110 }
higedura 1:16b2e229b739 111
higedura 1:16b2e229b739 112 void aux2_down(){
higedura 1:16b2e229b739 113 t_aux2.stop();
higedura 1:16b2e229b739 114 pwm_pulse[5] = (int)(t_aux2.read()*1000000-1000);
higedura 1:16b2e229b739 115 t_aux2.reset();
higedura 1:16b2e229b739 116 }
higedura 1:16b2e229b739 117 */