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67 lines
1.4 KiB
C++
67 lines
1.4 KiB
C++
#include <stdint.h>
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#include <Arduino.h>
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#include <Servo.h>
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const int FWD_BTN = 2;
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const int REV_BTN = 3;
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const int SERVO_PWM = 9;
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const int ESC_PWM = 10;
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const int ADC_VBatt = A0;
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const int ADC_POT_0 = A1;
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const int ADC_POT_1 = A2;
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Servo esc;
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Servo servo;
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static float getBattV()
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{
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uint16_t raw = (uint16_t)analogRead(ADC_VBatt);
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float vout = (float)raw / 1024.0f * 5.0f;
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return (vout * 2.0f);
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}
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static float getPot0V()
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{
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uint16_t raw = (uint16_t)analogRead(ADC_POT_0);
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return (float)raw / 1024.0f * 5.0f;
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}
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static float getPot1V()
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{
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uint16_t raw = (uint16_t)analogRead(ADC_POT_1);
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return (float)raw / 1024.0f * 5.0f;
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}
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static void handleMotor()
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{
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int val = analogRead(ADC_POT_0);
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val = map(val, 0, 1023, 1100, 1900);
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esc.writeMicroseconds(val);
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}
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static void handleServo()
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{
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int val = analogRead(ADC_POT_1);
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val = map(val, 0, 1023, 1100, 1900);
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servo.writeMicroseconds(val);
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}
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void setup()
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{
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Serial.begin(9600);
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esc.attach(ESC_PWM);
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servo.attach(SERVO_PWM);
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}
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void loop()
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{
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Serial.print("Battery Voltage: ");
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Serial.println(getBattV());
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Serial.print("Fwd Pot: ");
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Serial.print(getPot0V() / 5.0f * 100.0f);
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Serial.println("%");
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Serial.print("Rev Pot: ");
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Serial.print(getPot1V() / 5.0f * 100.0f);
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Serial.println("%");
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delay(500);
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}
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