| 1,3 → 1,10 |
|---|
| ////////////////////////////////////// |
| // LocoHead - Mathias Kreider, 2011 // |
| // // |
| // main.c // |
| // Main, PPM and Debug functions // |
| ////////////////////////////////////// |
| |
| #include <avr/io.h> |
| #include <math.h> |
| #include <stdlib.h> |
| 69,7 → 76,7 |
|---|
| |
| int main() |
| { |
| _delay_ms(500); //delay for VCC stabilization |
| _delay_ms(500); //delay for VCC stabilisation |
| |
| ppm_init(); |
| |
| 129,7 → 136,7 |
|---|
| |
| read_data(&a_avg, &m_avg); |
| |
| //get angle - startoffset |
| //calculate servo pulselength from sensor data |
| int heading_us = thr_filter(get_us(get_heading(&a_avg, &m_avg, &p) - heading_start, HDG_MIN, HDG_MAX, HDG_US_MIN, HDG_US_MAX),&thr_in, &thr_out); |
| int pitch_us = get_us(get_perpendicular(&a_avg, &down, &p) - pitch_start, PIT_MIN, PIT_MAX, PIT_US_MIN, PIT_US_MAX); |
| int roll_us = get_us(get_perpendicular(&a_avg, &down, &right) - roll_start, ROL_MIN, ROL_MAX, ROL_US_MIN, ROL_US_MAX);; |