hige dura
RC_reciever
Dependencies: mbed RC_reciever
Diff: main.cpp
- Revision:
- 1:16b2e229b739
- Parent:
- 0:18d415e9d13b
- Child:
- 2:8c428bae83a8
--- a/main.cpp Tue Dec 04 14:40:04 2012 +0000
+++ b/main.cpp Sat Dec 08 23:52:11 2012 +0000
@@ -1,105 +1,117 @@
-#include "mbed.h"
-#include "TextLCD.h"
-
-#define chan 6 // the numbers of channels
-
-Serial pc(USBTX, USBRX);
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-/*
-InterruptIn ch1(p26); // yaw
-InterruptIn ch2(p25); // pitch
-InterruptIn ch3(p24); // throttle
-InterruptIn ch4(p23); // roll
-InterruptIn ch5(p22); // aux1
-InterruptIn ch6(p21); // aux2
-*/
-InterruptIn ch1(p5); // yaw
-InterruptIn ch2(p6); // pitch
-InterruptIn ch3(p7); // throttle
-InterruptIn ch4(p8); // roll
-InterruptIn ch5(p9); // aux1
-InterruptIn ch6(p10); // aux2
-TextLCD lcd(p24, p26, p27, p28, p29, p30);
-
-void thro_up(); void roll_up(); void pitch_up(); void yaw_up(); void aux1_up(); void aux2_up();
-void thro_down(); void roll_down(); void pitch_down(); void yaw_down(); void aux1_down(); void aux2_down();
-
-Timer t_thro; Timer t_roll; Timer t_pitch; Timer t_yaw; Timer t_aux1; Timer t_aux2;
-
-// thro roll pitch yaw aux1 aux2
-int pwm_pulse[chan] = {0, 0, 0, 0, 0, 0};
-
-int main() {
-
- pc.baud(921600);
-
- lcd.locate(0, 0); lcd.printf("StarBoard Orange");
- lcd.locate(0, 1); lcd.printf("mbed NXP LPC1768");
- wait(1); lcd.cls();
-
- // Reciever function
- ch1.rise(&yaw_up); ch1.fall(&yaw_down);
- ch2.rise(&pitch_up); ch2.fall(&pitch_down);
- ch3.rise(&thro_up); ch3.fall(&thro_down);
- ch4.rise(&roll_up); ch4.fall(&roll_down);
- ch5.rise(&aux1_up); ch5.fall(&aux1_down);
- ch6.rise(&aux2_up); ch6.fall(&aux2_down);
-
- while(1) {
-
- //for(int i=0;i<chan;i++){ pc.printf("%f ",pwm_pulse[i]); }
- //pc.printf("\r\n");
- lcd.locate(0, 0);
- lcd.printf("%4d %4d %4d",pwm_pulse[0], pwm_pulse[1], pwm_pulse[2]);
- lcd.locate(0, 1);
- lcd.printf("%4d %4d %4d",pwm_pulse[3], pwm_pulse[4], pwm_pulse[5]);
- lcd.cls();
-
- }
-}
-
-void thro_up(){ t_thro.start(); }
-void roll_up(){ t_roll.start(); }
-void pitch_up(){ t_pitch.start(); }
-void yaw_up(){ t_yaw.start(); }
-void aux1_up(){ t_aux1.start(); }
-void aux2_up(){ t_aux2.start(); }
-
-void thro_down(){
- t_thro.stop();
- pwm_pulse[0] = (int)(t_thro.read()*1000000-1000);
- t_thro.reset();
-}
-
-void roll_down(){
- t_roll.stop();
- pwm_pulse[1] = (int)(t_roll.read()*1000000-1000);
- t_roll.reset();
-}
-
-void pitch_down(){
- t_pitch.stop();
- pwm_pulse[2] = (int)(t_pitch.read()*1000000-1000);
- t_pitch.reset();
-}
-
-void yaw_down(){
- t_yaw.stop();
- pwm_pulse[3] = (int)(t_yaw.read()*1000000-1000);
- t_yaw.reset();
-}
-
-void aux1_down(){
- t_aux1.stop();
- pwm_pulse[4] = (int)(t_aux1.read()*1000000-1000);
- t_aux1.reset();
-}
-
-void aux2_down(){
- t_aux2.stop();
- pwm_pulse[5] = (int)(t_aux2.read()*1000000-1000);
- t_aux2.reset();
-}
+#include "mbed.h"
+#include "TextLCD.h"
+
+#define chan 6 // the numbers of channels
+
+Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+Serial xbee(p9,p10); // tx, rx
+
+InterruptIn ch1(p13); // yaw
+InterruptIn ch2(p14); // pitch
+InterruptIn ch3(p15); // throttle
+InterruptIn ch4(p16); // roll
+//InterruptIn ch5(p17); // aux1
+//InterruptIn ch6(p18); // aux2
+/*
+InterruptIn ch1(p5); // yaw
+InterruptIn ch2(p6); // pitch
+InterruptIn ch3(p7); // throttle
+InterruptIn ch4(p8); // roll
+InterruptIn ch5(p9); // aux1
+InterruptIn ch6(p10); // aux2
+TextLCD lcd(p24, p26, p27, p28, p29, p30);
+*/
+void thro_up(); void roll_up(); void pitch_up(); void yaw_up(); void aux1_up(); void aux2_up();
+void thro_down(); void roll_down(); void pitch_down(); void yaw_down(); void aux1_down(); void aux2_down();
+
+Timer t_thro; Timer t_roll; Timer t_pitch; Timer t_yaw; Timer t_aux1; Timer t_aux2;
+
+// thro roll pitch yaw aux1 aux2
+int pwm_pulse[chan] = {0, 0, 0, 0, 0, 0};
+
+int main() {
+
+ pc.baud(921600);
+ xbee.baud(115200);
+
+ //lcd.locate(0, 0); lcd.printf("StarBoard Orange");
+ //lcd.locate(0, 1); lcd.printf("mbed NXP LPC1768");
+ //wait(1); lcd.cls();
+
+ //xbee.printf("\n\r\n\rRC reciever\n\r");
+
+ // Reciever function
+ ch1.rise(&yaw_up); ch1.fall(&yaw_down);
+ ch2.rise(&pitch_up); ch2.fall(&pitch_down);
+ ch3.rise(&thro_up); ch3.fall(&thro_down);
+ ch4.rise(&roll_up); ch4.fall(&roll_down);
+ //ch5.rise(&aux1_up); ch5.fall(&aux1_down);
+ //ch6.rise(&aux2_up); ch6.fall(&aux2_down);
+
+ while(1) {
+
+ for( int i=0;i<4;i++ ){ xbee.printf("%d ", pwm_pulse[i]); }
+ xbee.printf("\r\n\r\n");
+
+ //for( int i=0;i<4;i++ ){ pc.printf("%d ", pwm_pulse[i]); }
+ //pc.printf("\r\n\r\n");
+
+ //lcd.locate(0, 0);
+ //lcd.printf("%4d %4d %4d",pwm_pulse[0], pwm_pulse[1], pwm_pulse[2]);
+ //lcd.locate(0, 1);
+ //lcd.printf("%4d %4d %4d",pwm_pulse[3], pwm_pulse[4], pwm_pulse[5]);
+ //lcd.cls();
+
+ wait(.1);
+
+ }
+}
+
+void thro_up(){ t_thro.start(); }
+void roll_up(){ t_roll.start(); }
+void pitch_up(){ t_pitch.start(); }
+void yaw_up(){ t_yaw.start(); }
+//void aux1_up(){ t_aux1.start(); }
+//void aux2_up(){ t_aux2.start(); }
+
+void thro_down(){
+ t_thro.stop();
+ pwm_pulse[0] = (int)(t_thro.read()*1000000-1000);
+ t_thro.reset();
+}
+
+void roll_down(){
+ t_roll.stop();
+ pwm_pulse[1] = (int)(t_roll.read()*1000000-1000);
+ t_roll.reset();
+}
+
+void pitch_down(){
+ t_pitch.stop();
+ pwm_pulse[2] = (int)(t_pitch.read()*1000000-1000);
+ t_pitch.reset();
+}
+
+void yaw_down(){
+ t_yaw.stop();
+ pwm_pulse[3] = (int)(t_yaw.read()*1000000-1000);
+ t_yaw.reset();
+}
+/*
+void aux1_down(){
+ t_aux1.stop();
+ pwm_pulse[4] = (int)(t_aux1.read()*1000000-1000);
+ t_aux1.reset();
+}
+
+void aux2_down(){
+ t_aux2.stop();
+ pwm_pulse[5] = (int)(t_aux2.read()*1000000-1000);
+ t_aux2.reset();
+}
+*/
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