switch to setup for Arduino Boards Manager

2025-09-17 17:32:25 -07:00 · 2015-06-23 12:42:35 -07:00
parent bc55c9bb45
commit 6ca6b114d5
3581 changed files with 93 additions and 51 deletions
--- a/digistump-avr/libraries/DigisparkSoftRcPulseOut/examples/SoftRcPulseInOutDemo/SoftRcPulseInOutDemo.ino
+++ b/digistump-avr/libraries/DigisparkSoftRcPulseOut/examples/SoftRcPulseInOutDemo/SoftRcPulseInOutDemo.ino
@@ -0,0 +1,100 @@
+/*
+This sketch demonstrates how to use <SoftRcPulseIn> library to get RC pulses from a receiver and to use <SoftRcPulseOut> library to drive 2 servos.
+The first servo will follow the order, and the second one will have a reverted motion.
+Please notice this sketch is fully asynchronous: no blocking functions such as delay() or pulseIn() are used.
+Tested on arduino UNO, ATtiny84, ATtiny85 and Digispark rev2 (Model A).
+RC Navy 2013
+http://p.loussouarn.free.fr
+*/
+
+#include <SoftRcPulseIn.h>
+#include <SoftRcPulseOut.h>
+#include <TinyPinChange.h> /* Needed for <SoftRcPulseIn> library */
+
+#define RX_CHANNEL_PIN          2
+
+#define SERVO1_PIN              3
+#define SERVO2_PIN              4
+
+#define LED_PIN                 1//1 on Digispark rev2 (Model A), change to pin 0 for Digispark rev1 (Model B), change to 13 for UNO
+
+#define LED_HALF_PERIOD_MS      250
+
+#define PULSE_MAX_PERIOD_MS     30  /* To refresh the servo in case of pulse extinction */
+
+#define NOW                     1
+
+#define NEUTRAL_US              1500 /* Default position in case of no pulse at startup */
+
+enum {NORMAL=0, INVERTED, SERVO_NB}; /* Trick: use an enumeration to declare the index of the servos AND the amount of servos */
+
+
+SoftRcPulseIn  RxChannelPulse;       /* RxChannelPulse is an objet  of SoftRcPulseIn type */
+SoftRcPulseOut ServoMotor[SERVO_NB]; /* Table Creation for 2 objets of SoftRcPulseOut type */
+
+/* Possible values to compute a shifting average fin order to smooth the recieved pulse witdh */
+#define AVG_WITH_1_VALUE        0
+#define AVG_WITH_2_VALUES       1
+#define AVG_WITH_4_VALUES       2
+#define AVG_WITH_8_VALUES       3
+#define AVG_WITH_16_VALUES      4
+
+#define AVERAGE_LEVEL          AVG_WITH_4_VALUES  /* Choose here the average level among the above listed values */
+                                                  /* Higher is the average level, more the system is stable (jitter suppression), but lesser is the reaction */
+
+/* Macro for average */
+#define AVERAGE(ValueToAverage,LastReceivedValue,AverageLevelInPowerOf2)  ValueToAverage=(((ValueToAverage)*((1<<(AverageLevelInPowerOf2))-1)+(LastReceivedValue))/(1<<(AverageLevelInPowerOf2)))
+
+/* Variables */
+uint32_t LedStartMs=millis();
+uint32_t RxPulseStartMs=millis();
+boolean  LedState=HIGH;
+
+void setup()
+{
+#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__) && !defined(__AVR_ATtiny167__)
+  Serial.begin(9600);
+  Serial.print("SoftRcPulseIn library V");Serial.print(SoftRcPulseIn::LibTextVersionRevision());Serial.print(" demo"); /* For arduino UNO which has an hardware UART, display the library version in the console */
+#endif
+  RxChannelPulse.attach(RX_CHANNEL_PIN);
+  ServoMotor[NORMAL].attach(SERVO1_PIN);   /* enumeration is used a index for the ServoMotor[] table */
+  ServoMotor[INVERTED].attach(SERVO2_PIN); /* enumeration is used a index for the ServoMotor[]table */
+  pinMode(LED_PIN, OUTPUT);
+}
+
+void loop()
+{
+static uint16_t Width_us=NEUTRAL_US; /* Static to keep the value at the next loop */
+  
+  /* Receiver pulse acquisition and command of 2 servos, one in the direct direction, one in the inverted direction */
+  if(RxChannelPulse.available())
+  {
+    AVERAGE(Width_us,RxChannelPulse.width_us(),AVERAGE_LEVEL);
+    ServoMotor[NORMAL].write_us(Width_us);                  /* Direct Signal */
+    ServoMotor[INVERTED].write_us((NEUTRAL_US*2)-Width_us); /* Inverted Signal */
+    SoftRcPulseOut::refresh(NOW); /* NOW argument (=1) allows to synchronize outgoing pulses with incoming pulses */
+    RxPulseStartMs=millis();      /* Restart the Chrono for Pulse */
+#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__) && !defined(__AVR_ATtiny167__)
+    Serial.print("Pulse=");Serial.println(Width_us); /* For arduino UNO which has an hardware UART, display the library version in the console */
+#endif
+  }
+  else
+  {
+    /* Check for pulse extinction */
+    if(millis()-RxPulseStartMs>=PULSE_MAX_PERIOD_MS)
+    {
+      /* Refresh the servos with the last known position in order to avoid "flabby" servos */
+      SoftRcPulseOut::refresh(NOW); /* Immediate refresh of outgoing pulses */
+      RxPulseStartMs=millis(); /* Restart the Chrono for Pulse */
+    }
+  }
+  
+  /* Blink LED Management */
+  if(millis()-LedStartMs>=LED_HALF_PERIOD_MS)
+  {
+    digitalWrite(LED_PIN, LedState);
+    LedState=!LedState;  /* At the next loop, if the half period is elapsed, the LED state will be inverted */
+    LedStartMs=millis(); /* Restart the Chrono for the LED */
+  }
+
+}