| 2,6 → 2,7 |
|---|
| ############################################################################*/ |
| |
| #include "main.h" |
| #include "heli.h" |
| |
| volatile unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| 163,31 → 164,6 |
|---|
| break; |
| |
| case 0: |
| i2c_write_byte(0x82); // servo board |
| twi_state = 100; |
| break; |
| case 100: // servo 1 |
| i2c_write_byte(servoValues[0]); |
| break; |
| case 101: // servo 2 |
| i2c_write_byte(servoValues[1]); |
| break; |
| case 102: // servo 3 |
| i2c_write_byte(servoValues[2]); |
| break; |
| case 103: // servo 4 |
| i2c_write_byte(servoValues[3]); |
| break; |
| case 104: // servo 5 |
| i2c_write_byte(servoValues[4]); |
| break; |
| case 105: // servo 6 |
| i2c_write_byte(servoValues[5]); |
| break; |
| case 106: |
| i2c_write_byte(calc_crc(&servoValues, 6)); |
| break; |
| case 107: |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |