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