import Tools directory

2026-10-09 08:54:05 +08:00 · 2011-09-09 11:31:32 +10:00
parent e0dc1271d6
commit 0d5ea17f63
311 changed files with 269254 additions and 0 deletions
@@ -0,0 +1,96 @@
+#include <avr/interrupt.h>
+
+volatile unsigned int Start_Pulse =0;
+volatile unsigned int Stop_Pulse =0;
+volatile unsigned int Pulse_Width =0;
+
+volatile int Test=0;
+volatile int Test2=0;
+volatile int Temp=0;
+volatile int Counter=0;
+volatile byte PPM_Counter=0;
+volatile int PWM_RAW[8] = {2400,2400,2400,2400,2400,2400,2400,2400};
+int All_PWM=1500;
+
+long timer=0;
+long timer2=0;
+
+void setup()
+{
+  Init_PWM1(); //OUT2&3 
+  Init_PWM3(); //OUT6&7
+  Init_PWM5(); //OUT0&1
+  Init_PPM_PWM4(); //OUT4&5
+  Serial.begin(57600);
+
+}
+void loop()
+{
+  
+   //Switch low, forward the PPM
+   if(InputCh(5) <= 1250)
+   {
+     OutputCh(0, InputCh(0));
+     OutputCh(1, InputCh(1));
+     OutputCh(2, InputCh(2));
+     OutputCh(3, InputCh(3));
+     OutputCh(4, InputCh(4));
+     OutputCh(5, InputCh(5));
+     OutputCh(6, InputCh(6));
+     OutputCh(7, InputCh(7));
+   }
+   else
+   {
+     //Switch High, Move servos
+     if(InputCh(5) >= 1750)
+     {
+         if((millis()- timer2) >= 20)
+          {
+            timer2=millis();
+            if(All_PWM >2100)
+            All_PWM=900;
+            else
+            All_PWM+=20;
+          }
+     }
+     //Switch in the midle, center all servos
+     else
+     {
+        All_PWM=1500;  
+     } 
+     
+     OutputCh(0, All_PWM);
+     OutputCh(1, All_PWM);
+     OutputCh(2, All_PWM);
+     OutputCh(3, All_PWM);
+     OutputCh(4, All_PWM);
+     OutputCh(5, All_PWM);
+     OutputCh(6, All_PWM);
+     OutputCh(7, All_PWM);     
+   }
+  
+  //Printing all values. 
+  if((millis()- timer) >= 250)
+  {
+    timer=millis();
+    Serial.print("Ch0:");
+    Serial.print(InputCh(0));
+    Serial.print(" Ch1:");
+    Serial.print(InputCh(1));
+    Serial.print(" Ch2:");
+    Serial.print(InputCh(2));
+    Serial.print(" Ch3:");
+    Serial.print(InputCh(3));
+    Serial.print(" Ch4:");
+    Serial.print(InputCh(4));
+    Serial.print(" Ch5:");
+    Serial.print(InputCh(5));
+    Serial.print(" Ch6:");
+    Serial.print(InputCh(6));
+    Serial.print(" Ch7:");
+    Serial.println(InputCh(7));
+  }
+   delay(20);
+}
+
+