Ian Hua / Quadcopter-mbedRTOS

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Diff: RTOS-Threads/src/Task4.cpp

Revision:
19:bd88749c8db4
Parent:
14:267368c83b6a
Child:
21:b642c18eccd1
--- a/RTOS-Threads/src/Task4.cpp	Sat May 03 02:05:51 2014 +0000
+++ b/RTOS-Threads/src/Task4.cpp	Sat May 03 02:11:41 2014 +0000
@@ -18,7 +18,11 @@
             ESCpower[1] = (RCCommand[3]*9/10) + (pitch_adjust / 2) + (roll_adjust / 2) - (yaw_adjust / 2);
             ESCpower[2] = (RCCommand[3]*9/10) - (pitch_adjust / 2) + (roll_adjust / 2) + (yaw_adjust / 2);
             ESCpower[3] = (RCCommand[3]*9/10) - (pitch_adjust / 2) - (roll_adjust / 2) - (yaw_adjust / 2);
+            
+            for (int i = 0; i < 4; i++)
+                ESC[i] = constrainESC(ESC[i]);
 
+            // if (ESC_check)
             //BT.printf("%4d %4d %4d %4d\n", ESCpower[0], ESCpower[1], ESCpower[2], ESCpower[3]);
 
             for (int i = 0; i < 4; i++)
@@ -39,4 +43,14 @@
     }
 
     //LED[4] = !LED[4];
-}
\ No newline at end of file
+}
+
+int constrainESC(int input)
+{
+    if (input < 1000)
+        return 1000;
+    else if (input > 2000)
+        return 2000;
+    else
+        return input;
+}