Dateien hochladen nach „Software/MPS_dev_01“

Software/MPS_dev_01/MPS_dev_01.ino

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+#include <MicroPlaneSystem.h>
+MicroPlaneSystem rx;
+
+
+MicroPlaneSystem servo1;
+MicroPlaneSystem servo2;
+MicroPlaneSystem servo3;
+MicroPlaneSystem servo4;
+MicroPlaneSystem servo5;
+
+
+MicroPlaneSystem motorA;
+MicroPlaneSystem motorB;
+
+
+int rud;
+int ele;
+int thro;
+int ail;
+int aux1;
+int aux2;
+
+int iswitch = 0;
+
+float fBattV;
+
+
+unsigned long timeFirst;
+
+bool debugging = true;
+
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("-----------");
+  Serial.println("Hello World");
+
+
+
+ servo1.attach(7);
+ servo2.attach(8);
+ servo3.attach(9);
+  //servo4.attach(10);
+  //servo5.attach(11);
+
+
+
+
+  motorA.setMotorPin(6, A1, A0);
+ //motorB.setMotorPin(3, 5, 13);
+
+
+}
+
+
+void loop() {
+ 
+  updateChannels();
+
+
+
+
+
+
+
+
+  motorA.setThrust(0,thro);
+  
+  //motorB.setThrust(1,thro);
+
+  servo1.write(rud);
+  servo2.write(ele);
+  servo3.write(ail);
+
+  //servo4.write(rud);
+  //servo5.write(aux1);
+
+
+  //Do fancy stuff
+
+  if (aux1 >= 1500) {
+    digitalWrite(A2, HIGH);
+  } else {
+    digitalWrite(A2, LOW);
+  }
+
+  if (aux2 >= 1500) {
+    posLight();
+    //digitalWrite(4, HIGH);
+
+  } else {
+    //digitalWrite(4, LOW);
+  }
+
+/*
+
+fBattV =  analogRead(A3);
+//Serial.print("BattV: ");  
+
+fBattV = (129*fBattV/33800);
+
+Serial.println(fBattV);
+
+*/
+}
+
+void channelMapping() {
+  ail = rx.getRxChannel(0);
+  rud = rx.getRxChannel(1);
+  ele = rx.getRxChannel(2);
+  thro = rx.getRxChannel(3);
+  aux1 = rx.getRxChannel(4);
+  aux2 = rx.getRxChannel(5);
+}
+
+void updateChannels() {
+
+  if (Serial.available()) {
+    //Serial.println("Serial ist da");
+    if (rx.update()) {
+      channelMapping();
+      if (debugging) {
+        for (int i = 0; i < 6; i++) {
+          Serial.print(" Ch0");
+          Serial.print(i);
+          Serial.print(": ");
+          Serial.print(rx.getRxChannel(i));
+        }
+        Serial.println();
+      }
+    }
+  } else {
+    //No connection or Failsafe
+  }
+}
+
+void posLight() {
+   
+//Serial.println(millis());
+
+
+
+switch(iswitch){
+  case 0:
+  if(everyXMills(100)){
+    iswitch++;
+    digitalWrite(4, HIGH);
+  }
+  break;
+  case 1:
+  if(everyXMills(50)){
+    iswitch++;
+    digitalWrite(4, LOW);
+  }
+  break;
+  case 2:
+  if(everyXMills(100)){
+    iswitch++;
+    digitalWrite(4, HIGH);
+  }
+  break;
+  case 3:
+  if(everyXMills(50)){
+    iswitch++;
+    digitalWrite(4, LOW);
+  }
+  break;
+  case 4:
+  if(everyXMills(800)){
+    iswitch = 0;
+  }
+  break;
+}
+
+
+}
+
+
+bool everyXMills(int mills){
+  bool bStatus;
+  if((millis()-timeFirst) >= mills){
+   bStatus = true;
+     timeFirst=millis();
+  }else{
+   bStatus = false;
+  }
+  return bStatus;
+}
+