C++ (Cpp) motorsCanSendGroups Examples

Example #1

File: motors.c Project: jiezhi320/autoquadfc

void motorsSendValues(void) {
    int i;

    for (i = 0; i < MOTORS_NUM; i++)
        if (motorsData.active[i]) {
            // ensure motor output is constrained
            motorsData.value[i] = constrainInt(motorsData.value[i], 0, MOTORS_SCALE);

            // PWM
            if (i < PWM_NUM_PORTS && motorsData.pwm[i]) {
                if (supervisorData.state & STATE_ARMED)
                    *motorsData.pwm[i]->ccr = constrainInt((float)motorsData.value[i] * (p[MOT_MAX] -  p[MOT_MIN]) / MOTORS_SCALE + p[MOT_MIN], p[MOT_START], p[MOT_MAX]);
                else
                    *motorsData.pwm[i]->ccr = 0;
            }
            // CAN
            else if (motorsData.can[i]) {
                motorsCheckCanStatus(i);

                if (supervisorData.state & STATE_ARMED)
                    // convert to 16 bit
                    *motorsData.canPtrs[i] = constrainInt(motorsData.value[i], MOTORS_SCALE * 0.1f, MOTORS_SCALE)<<4;
                else
                    *motorsData.canPtrs[i] = 0;
            }
        }

    motorsCanSendGroups();
}

Example #2

File: motors.c Project: mpaperno/aq_flight_control

void motorsOff(void) {
    int i;

    for (int j = 0; j < motorsData.numActive; ++j) {
	i = motorsData.activeList[j];
	motorsData.value[i] = 0;

	// PWM
	if (i < PWM_NUM_PORTS && motorsData.pwm[i]) {
#ifdef HAS_ONBOARD_ESC
	    if (MOTORS_ESC_TYPE == ESC_TYPE_ONBOARD_PWM)
		*motorsData.pwm[i]->ccr = (supervisorData.state & STATE_ARMED) ? ONBOARD_ESC_PWM_ARM : 0;
	    else
#endif
		*motorsData.pwm[i]->ccr = (supervisorData.state & STATE_ARMED) ? p[MOT_ARM] : 0;
	}
	// CAN
	else if (motorsData.can[i]) {
	    motorsCheckCanStatus(i);
	    *motorsData.canPtrs[i] = 0;
	}
    }
    motorsCanSendGroups();

    motorsData.throttle = 0;
    motorsData.throttleLimiter = 0.0f;
}

Example #3

File: motors.c Project: tenyan/quadfork

void motorsOff(void) {
	int i;

	for (i = 0; i < MOTORS_NUM; i++)
		if (motorsData.active[i]) {
			motorsData.value[i] = 0;

			// PWM
			if (i < PWM_NUM_PORTS && motorsData.pwm[i]) {
				//*motorsData.pwm[i]->ccr = (supervisorData.state & STATE_ARMED) ? p[MOT_ARM] : 0;
				*motorsData.pwm[i]->ccr = p[MOT_ARM];
			}
#ifdef CANx
			// CAN
			else if (motorsData.can[i]) {
				motorsCheckCanStatus(i);
				*motorsData.canPtrs[i] = 0;
			}
#endif
		}

#ifdef CANx
	motorsCanSendGroups();
#endif

	motorsData.throttle = 0;
	motorsData.throttleLimiter = 0.0f;
}

Example #4

File: motors.c Project: mpaperno/aq_flight_control

void motorsSendValues(void) {
    int i;

    for (int j = 0; j < motorsData.numActive; ++j) {
	i = motorsData.activeList[j];
	// ensure motor output is constrained
	motorsData.value[i] = constrainInt(motorsData.value[i], 0, MOTORS_SCALE);

	// PWM
	if (i < PWM_NUM_PORTS && motorsData.pwm[i]) {
	    if (supervisorData.state & STATE_ARMED) {
#ifdef HAS_ONBOARD_ESC
		if (MOTORS_ESC_TYPE == ESC_TYPE_ONBOARD_PWM)
		    *motorsData.pwm[i]->ccr = constrainInt((float)motorsData.value[i] * (ONBOARD_ESC_PWM_MAX - ONBOARD_ESC_PWM_MIN) / MOTORS_SCALE + ONBOARD_ESC_PWM_MIN, ONBOARD_ESC_PWM_START, ONBOARD_ESC_PWM_MAX);
		else
#endif
		    *motorsData.pwm[i]->ccr = constrainInt((float)motorsData.value[i] * (p[MOT_MAX] - p[MOT_MIN]) / MOTORS_SCALE + p[MOT_MIN], p[MOT_START], p[MOT_MAX]);
	    } else
		*motorsData.pwm[i]->ccr = 0;
	}
	// CAN
	else if (motorsData.can[i]) {
	    motorsCheckCanStatus(i);

	    if (supervisorData.state & STATE_ARMED)
		// convert to 16 bit
		*motorsData.canPtrs[i] = constrainInt(motorsData.value[i], MOTORS_SCALE * 0.1f, MOTORS_SCALE)<<4;
	    else
		*motorsData.canPtrs[i] = 0;
	}
    }

    motorsCanSendGroups();
}