Diff: DX6iController.cpp

Revision:

0:6374902c761b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DX6iController.cpp	Mon Mar 30 19:26:24 2015 +0000
@@ -0,0 +1,127 @@
+/**
+ * Institution: Georgia Institute of Technology - ECE Department - Senior Design II
+ * Team: AH3
+ * Created: 3/24/2015
+ * Last Edit: 3/26/2015
+ * By: Taylor Andrews, Luke Panayioto
+**/
+
+#include "DX6iController.h"
+
+DX6iController::DX6iController(pwmPin) : _pwmPin(pwmPin) {
+    pulseInterval = 0;
+    nChannels = 9;
+    
+    Throttle_Uptime = 700;           //1   700 / 1100 / 1500                                    // Throttle
+    Roll_Uptime = 1100;              //2   700 / 1100 / 1500 (R/L)                              // Roll
+    Pitch_Uptime = 1100;             //3   770 / 1170 / 1550 (B/F)                              // Pitch
+    Yaw_Uptime = 1100;               //4   700 / 1090 / 1500 (R/L)                              // Yaw
+    Stabilize_Uptime = 1100;         //5  LLLL / MMMM / 1500 (3,2,1)                            
+    Enable_Uptime = 1500;            //6   700 / ---- / 1500 (Off/On) Note: Bind I Button      
+    Extra_Uptime = 1100;             //7  LLLL / 1100 / HHHH                                    // IDK
+    Extra2_Uptime = 1100;            //8  LLLL / 1100 / HHHH                                    // IDK
+    Remainder_Uptime = 22000 - ((pulseInterval * nChannels) + Throttle_Uptime + Roll_Uptime + Pitch_Uptime + Yaw_Uptime + Enable_Uptime + Stabilize_Uptime + Extra_Uptime + Extra2_Uptime);
+
+    mThrottleTrim = 0;
+    mRollTrim = 0;
+    mPitchTrim = 0;
+    mYawTrim = 0;
+}
+
+void DX6iController::generateSignal(int externalDelay) {
+    //Big pulse
+    // long remainder uptime (0)
+    _pwmPin = 1; //Soft pwm
+    wait_us(Remainder_Uptime - externalDelay);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Throttle pulse (1)
+    _pwmPin = 1;
+    wait_us(Throttle_Uptime + mThrottleTrim);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Roll pulse (2)
+    _pwmPin = 1;
+    wait_us(Roll_Uptime + mRollTrim);
+    _pwmPin = 0;
+    wait_us(pulseIntervalDelay);
+
+    // Pitch pulse (3)
+    _pwmPin = 1;
+    wait_us(Pitch_Uptime + mPitchTrim);
+    _pwmPin = 0;
+    wait_us(pulseIntervalDelay);
+    
+    // Yaw pulse (4)
+    _pwmPin = 1;
+    wait_us(Yaw_Uptime + mYawTrim);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Stability pulse (5)
+    _pwmPin = 1;
+    wait_us(Stabilize_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    // Enable pulse (6)
+    _pwmPin = 1;
+    wait_us(Enable_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+
+    _pwmPin = 1;
+    wait_us(Extra_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+    
+    _pwmPin = 1;
+    wait_us(Extra2_Uptime);
+    _pwmPin = 0;
+    wait_us(pulseInterval);
+}
+
+// TODO: ensure that new values are in an acceptable range
+void DX6iController::updateThrottle(int newThrottle) {
+    Throttle_Uptime = newThrottle;
+    updateRemainder();
+}
+
+void DX6iController::updateRoll(int newRoll) {
+    Roll_Uptime = newRoll;
+    updateRemainder();
+}
+
+void DX6iController::updatePitch(int newPitch) {
+    Pitch_Uptime = newPitch;
+    updateRemainder();
+}
+
+void DX6iController::updateYaw(int newYaw) {
+    Yaw_Uptime = newYaw;
+    updateRemainder();
+}
+
+void DX6iController::updateRemainder() {
+    Remainder_Uptime = 22000 - (pulseInterval*nChannels + Throttle_Uptime + Roll_Uptime + Pitch_Uptime + Yaw_Uptime
+                         + Enable_Uptime + Stabilize_Uptime + Extra_Uptime + Extra2_Uptime
+                         + mThrottleTrim + mRollTrim + mPitchTrim + mYawTrim);
+}
+
+void DX6iController::updateThrottleTrim(int newThrottleTrim) {
+    mThrottleTrim = newThrottleTrim;
+}
+
+void DX6iController::updateRollTrim(int newRollTrim) {
+    mRollTrim = newRollTrim;
+}
+
+void DX6iController::updatePitchTrim(int newPitchTrim) {
+    mPitchTrim = newPitchTrim;
+}
+
+void DX6iController::updateYawTrim(int newYawTrim) {
+    mYawTrim = newYawTrim;
+}
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