ROBOFRIEN_SBUS.h

00001 #ifndef MBED_ROBOFRIEN_SBUS_H
00002 #define MBED_ROBOFRIEN_SBUS_H
00003 
00004 #include "mbed.h"
00005 
00006 
00007 #define SIGNAL_OFF              0
00008 #define MOTOR_OFF               1
00009 #define MANUAL_ATTITUDE         2
00010 #define MANUAL_VELOCITY         3
00011 #define MANUAL_POSITION         4
00012 #define AUTO_FLIGHT             5
00013 #define HOME_POINT              6
00014 
00015 class ROBOFRIEN_SBUS {
00016 public:
00017     void Init();
00018     void update();
00019     bool end_bool,start_bool;  
00020     bool read_check;  
00021     int16_t channel[16];            // Range : -1000 ~ 1000
00022     int check_cnt;
00023     uint8_t CONTROLLER_STATE;
00024     /* **** CONTROL STATE **** */
00025     // 0 = SIGNAL OFF
00026     // 1 = MOTOR OFF
00027     // 2 = MANUAL - ATTITUDE
00028     // 3 = MANUAL - VELOCITY
00029     // 4 = MANUAL - POSITION
00030     // 5 = AUTO FLIGHT
00031     bool HOMEPOINT_BOOL;
00032 private:
00033     uint8_t SBUS_CNT;
00034     uint8_t SBUS_ID[3];
00035     uint8_t SBUS_BUFF[25];
00036 };
00037 
00038 #endif