Most recent edit on 2012-03-29 11:50:22 by KnightrousOxide
Additions:
Below is an arduino based code for the Pololu B328∞ controllers.
To program this code onto the B328, you will need to setup your arduino environment as per the Pololu tutorial∞. You will also need to download the Pololu OrangutanMotor∞ library.
Code written by Steven Martin.
Deletions:
Below is a collection of arduino based code for the Pololu B328 controllers.
Code written by Steven Martin.
Oldest known version of this page was edited on 2012-03-29 11:40:04 by KnightrousOxide []
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Arduino Code for Pololu B328 controller
Below is a collection of arduino based code for the Pololu B328 controllers.
Code written by Steven Martin.
B328 RC Speedcontroller Code
#include <OrangutanMotors.h>
#define CH1 7 // ELE - FWD/REV
#define CH2 4 // AIL - LEFT/RIGHT
#define LED 1
#define rcMin 1000
#define rcMax 2000
#define MIXING 1
OrangutanMotors motors;
unsigned long input2;
unsigned long input1;
void setup()
{
pinMode(CH1,INPUT);
pinMode(CH2,INPUT);
pinMode(LED, OUTPUT);
}
void loop()
{
input2 = pulseIn(CH2, HIGH) ;
input1 = pulseIn(CH1, HIGH) ;
if (input2 != 0 && input1 != 0)
{
int M1 = (input1 - rcMin) - (rcMax - rcMin)/2;
int M2 = (input2 - rcMin) - (rcMax - rcMin)/2;
if(MIXING)
{
long temp = M1 - M2;
if (temp > 250)
{
temp = 255;
}
else if (temp < -250)
{
temp = -255;
}
long temp2 = M1 + M2;
if (temp2 > 250)
{
temp2 = 255;
}
else if (temp2 < -250)
{
temp2 = -255;
}
M1 = temp;
M2 = temp2;
}
motors.setSpeeds(M1,M2);
}
}