136 lines
2.4 KiB
C++
136 lines
2.4 KiB
C++
#include <MicroPlaneSystem.h>
|
|
|
|
MicroPlaneSystem rx;
|
|
MicroPlaneSystem servo1;
|
|
MicroPlaneSystem servo2;
|
|
MicroPlaneSystem motorB;
|
|
|
|
int rud;
|
|
int ele;
|
|
int thro;
|
|
int ail;
|
|
int aux1;
|
|
int aux2;
|
|
|
|
int iswitch = 0;
|
|
|
|
float fBattV;
|
|
|
|
unsigned long timeFirst;
|
|
|
|
bool debugging = false;
|
|
|
|
void setup() {
|
|
Serial.begin(115200);
|
|
Serial.println("-----------");
|
|
Serial.println("Hello World");
|
|
|
|
servo1.attach(7);
|
|
servo2.attach(8);
|
|
|
|
motorB.setMotorPin(6);
|
|
}
|
|
|
|
|
|
void loop() {
|
|
|
|
updateChannels();
|
|
|
|
servo1.write(ail);
|
|
servo2.write(ele);
|
|
motorB.setThrust(thro);
|
|
|
|
if (aux1 >= 1500) {
|
|
digitalWrite(A2, HIGH);
|
|
} else {
|
|
digitalWrite(A2, LOW);
|
|
}
|
|
|
|
if (aux2 >= 1500) {
|
|
posLight();
|
|
}
|
|
|
|
}
|
|
|
|
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
|
|
// Serial.println("\nNo Connection");
|
|
motorB.setThrust(0);
|
|
}
|
|
}
|
|
|
|
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(unsigned int mills) {
|
|
bool bStatus;
|
|
if ((millis() - timeFirst) >= mills) {
|
|
bStatus = true;
|
|
timeFirst = millis();
|
|
} else {
|
|
bStatus = false;
|
|
}
|
|
return bStatus;
|
|
}
|
|
|