Diff: main.cpp

Revision:

0:b59cb9ef5b5b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Apr 13 01:00:26 2013 +0000
@@ -0,0 +1,43 @@
+#include "Servo.h"
+#include "mbed.h"
+#include "RadioIn.h"
+#include "Config.h"
+
+void Drive(float m_esq, float m_dir){ // Valores de -1 a 1 em cada motor
+saber1.write((m_esq/2)+0.5);
+saber2.write((m_esq/2)+0.5);
+}
+
+void DriveRC(){
+            float trim=0; // Trim para casar o 0 da sabertooth com o PWM do Mbed
+            radio.Update();
+            saber1.write((radio.chan1+1)/2+trim);
+            saber2.write((radio.chan2+1)/2+trim);
+}
+
+
+float ReadRadio(int chan){  // Retorna o valor do canal entre -1 e 1
+radio.Update();
+if (chan==1){return radio.chan1;}
+if (chan==2){return radio.chan2;}
+if (chan==3){return radio.chan3;}
+else return 0;
+}
+
+
+// Melhor usar o V-Tail Mixer e fazer o mix via hardware
+void DriveMixedRC(){            
+            radio.Update();
+            saber1.write(((radio.chan1+radio.chan2)+1)/2);
+            saber2.write(((radio.chan1-radio.chan2)+1)/2);
+}
+
+int main()
+{
+saber1.period_us(5);
+saber2.period_us(5);
+radio.Init();
+while(1){
+         DriveMixedRC();
+        }
+}
\ No newline at end of file