Updated firmware to work with new motor controllers
Will Brown
11 years ago
3 | 3 | #define MOTOR_ARM_TIME 5000 |
4 | 4 | #define MOTOR_ARM_VALUE 20 |
5 | 5 | #define MOTOR_COUNT 4 |
6 | #define MOTOR_MAX_COMMAND 160 | |
7 | #define MOTOR_MIN_COMMAND 67 | |
8 | #define MOTOR_OFF_COMMAND 50 | |
6 | 9 | #define SPEED_HEADER "NEWSPEED" |
7 | 10 | #define STATUS_LED 13 |
8 | 11 | #define STATUS_LED_CYCLES 30000 |
85 | 88 | */ |
86 | 89 | void loop(void) { |
87 | 90 | if (Serial.available() >= WORD_LENGTH) { |
88 | int i, j, timeout; | |
91 | int i, j, timeout, buffer_val; | |
89 | 92 | led_cycles = 0; |
90 | 93 | digitalWrite(STATUS_LED, HIGH); |
91 | 94 | |
100 | 103 | } |
101 | 104 | |
102 | 105 | buffer[WORD_LENGTH] = '\0'; |
103 | motors[i].next_speed = map(atoi(buffer), -1, 99, 67, 160); | |
106 | buffer_val = atoi(buffer); | |
107 | if (buffer_val > 0) { | |
108 | motors[i].next_speed = map(atoi(buffer), -1, 99, | |
109 | MOTOR_MIN_COMMAND, MOTOR_MAX_COMMAND); | |
110 | } else { | |
111 | motors[i].next_speed = MOTOR_OFF_COMMAND; | |
112 | } | |
104 | 113 | } else { |
105 | 114 | Serial.println(BAD_REQUEST); |
106 | 115 | } |