Code: Alles auswählen

/*******************************/
/****CONFIGURABLE PARAMETERS****/
/*******************************/
...
#define MINCHECK 1100   //Zeile muss von unten nach oben gezogen werden
#define MAXCHECK 1900 //Zeile muss nach unten nach oben gezogen werden

// if ESC needs to be calibrated by fullthrottle, wait for two beeps, low throttle
#define ESC_STICK_CALIBRATING
...
...
...

void initializeMotors()
{
  #ifdef ESC_STICK_CALIBRATING
  
  for(uint8_t i=0;i<NUMBER_MOTOR;i++)
    pinMode(PWM_PIN[i],OUTPUT);
  for(int i=0;i<4;i++)    //computeRC will take the average of last four readings, initial value is set to 1500
    computeRC();
  
  if(rcData[THROTTLE] > MAXCHECK)
  {
    writeAllMotors(2000);
    delay(300);
    while(rcData[THROTTLE] > MAXCHECK)
      computeRC();
      writeAllMotors(1000);
    delay(300);
  }
  else
  {
    writeAllMotors(1000);
    delay(300);
  }  
  #else 
    for(uint8_t i=0;i<NUMBER_MOTOR;i++)
      pinMode(PWM_PIN[i],OUTPUT);
    writeAllMotors(2000); //max motor command is maintained for 100ms at the initialization
    delay(100); //it's a way to calibrate the ESCs
    writeAllMotors(1000);
    delay(300);
  #endif  
}

...
...

void setup() {
  Serial.begin(SERIAL_COM_SPEED);
  pinMode (LEDPIN, OUTPUT);
  pinMode (POWERPIN, OUTPUT);
  pinMode (BUZZERPIN, OUTPUT);
  pinMode (A0, OUTPUT);
  PORTB &= ~(1<<4);//switch OFF WMP, digital PIN 12
  configureReceiver();
  delay(500);   
  initializeMotors();
....
...

Code: Alles auswählen

// Quick n dirty solution to setup the brushless controllers by Christoph Albiez

#include <Servo.h> 
 
Servo Motor[4];  // create servo object to control a servo 

int val;    // variable to read the value from the throttle pin
 
void setup() 
{ 
  Serial.begin(9600);
  Motor[0].attach(3);  // attaches the servo on pin 3 to the servo object 
  Motor[1].attach(9);  // attaches the servo on pin 9 to the servo object 
  Motor[2].attach(10);  // attaches the servo on pin 10 to the servo object 
  Motor[3].attach(11);  // attaches the servo on pin 11 to the servo object 
} 
 
void loop() 
{ 
  val =  pulseIn (2, HIGH);            // reads the value of the throttle channel
  
  if (val > 1500) val = 2000;          // as only 2000 and 1000 are needed to setup the controllers for the quadro
  else val = 1000;
  
  for (int i=0; i <= 3; i++){
    Motor[i].writeMicroseconds(val);  // sets according to the throttle value 
  }
  delay(15);                           // short delay
   
    Serial.print(val);
    Serial.println();                  // just to give you some feedback
} 

Code: Alles auswählen

void initializeMotors() {
  for(uint8_t i=0;i<NUMBER_MOTOR;i++)
    pinMode(PWM_PIN[i],OUTPUT);
//  writeAllMotors(2000); //max motor command is maintained for 100ms at the initialization
//  delay(100); //it's a way to calibrate the ESCs
  writeAllMotors(MINCOMMAND);
  delay(300);
}