87 lines
1.5 KiB
C++
87 lines
1.5 KiB
C++
|
/*
|
||
|
|
* Electronic Speed Controller (ESC) - Library
|
||
|
|
*
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "ESC.h"
|
||
|
|
|
||
|
|
// < Constructor >
|
||
|
|
/*
|
||
|
|
* Sets the proper pin to output.
|
||
|
|
*/
|
||
|
|
ESC::ESC(byte ESC_pin, int outputMin, int outputMax, int armVal)
|
||
|
|
{
|
||
|
|
oPin = ESC_pin;
|
||
|
|
oMin = outputMin;
|
||
|
|
oMax = outputMax;
|
||
|
|
oArm = armVal;
|
||
|
|
}
|
||
|
|
|
||
|
|
// < Destructor >
|
||
|
|
ESC::~ESC()
|
||
|
|
{
|
||
|
|
// Nothing to destruct
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Calibrate the maximum and minimum PWM signal the ESC is expecting
|
||
|
|
* depends on the outputMin, outputMax values from the constructor
|
||
|
|
*/
|
||
|
|
void ESC::calib(void)
|
||
|
|
{
|
||
|
|
myESC.attach(oPin); // attaches the ESC on pin oPin to the ESC object
|
||
|
|
myESC.writeMicroseconds(oMax);
|
||
|
|
delay(calibrationDelay);
|
||
|
|
myESC.writeMicroseconds(oMin);
|
||
|
|
delay(calibrationDelay);
|
||
|
|
arm();
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Sent a signal to Arm the ESC
|
||
|
|
* depends on the Arming value from the constructor
|
||
|
|
*/
|
||
|
|
void ESC::arm(void)
|
||
|
|
{
|
||
|
|
myESC.attach(oPin); // attaches the ESC on pin oPin to the ESC object
|
||
|
|
myESC.writeMicroseconds (oArm);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Sent a signal to stop the ESC
|
||
|
|
* depends on the ESC stop pulse value
|
||
|
|
*/
|
||
|
|
void ESC::stop(void)
|
||
|
|
{
|
||
|
|
myESC.writeMicroseconds (stopPulse);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Sent a signal to set the ESC speed
|
||
|
|
* depends on the calibration minimum and maximum values
|
||
|
|
*/
|
||
|
|
void ESC::speed(int outputESC)
|
||
|
|
{
|
||
|
|
oESC = constrain(outputESC, oMin, oMax);
|
||
|
|
myESC.writeMicroseconds(oESC);
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Set the current calibration delay in miliseconds
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
void ESC::setCalibrationDelay(uint32_t calibration_delay)
|
||
|
|
{
|
||
|
|
calibrationDelay = calibration_delay;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Set the current Stop pulse in microseconds
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
void ESC::setStopPulse(uint32_t stop_pulse)
|
||
|
|
{
|
||
|
|
stopPulse = stop_pulse;
|
||
|
|
}
|