void Pilot::resetControl() {
sendThruster(0,1,0);
sendThruster(0,2,0);
sendThruster(0,3,0);
sendThruster(0,4,0);
sendThruster(0,5,0);
sendThruster(0,6,0);
sendLED(0,1,0);
sendLED(0,2,0);
}
int setLedNum(int n)
{
if(n<0 || n >10){
printf("n = [0, 10]\n");
return -1;
}
send16bitData(CmdMode);
sendLED(pow(2,n)-1); // 2^n-1
latchData();
}
void Pilot::manualControl(rapidjson::Document* doc,int uid) {
const rapidjson::Value& pArgs = (*doc)["args"];
if(pArgs.IsArray() == false)return;
if(!strcmp("cancelControl",(*doc)["name"].GetString())) {
//printf("Cancel uid=%d Control\n",uid);
cancelIdControl(uid);
} else if(pArgs[rapidjson::SizeType(0)].IsInt()) {
int s = pArgs[rapidjson::SizeType(0)].GetInt();
if(!strcmp("thro",(*doc)["name"].GetString())) {
//printf("thro control power=%d\n",s);
sendThruster(uid,1,s);
sendThruster(uid,2,s);
} else if(!strcmp("yaw",(*doc)["name"].GetString())) {
//printf("yaw control power=%d\n",s);
sendThruster(uid,1,s);
sendThruster(uid,2,-s);
} else if(!strcmp("led",(*doc)["name"].GetString())&&pArgs[rapidjson::SizeType(1)].IsInt()) {
//printf("led control id=%d power=%d\n",s,pArgs[rapidjson::SizeType(1)].GetInt());
sendLED(uid,s,pArgs[rapidjson::SizeType(1)].GetInt());
}
}
}
void LEDBar::displayStack(uint16_t displayVal, bool direction)
{
mapped = map(displayVal, mapLow, mapHigh, 0, 10);
if (direction == 0) {
switch (mapped) {
case 0:
output = 0;
break;
case 1:
output = 512;
break;
case 2:
output = 768;
break;
case 3:
output = 896;
break;
case 4:
output = 960;
break;
case 5:
output = 992;
break; //green to red
case 6:
output = 1008;
break;
case 7:
output = 1016;
break;
case 8:
output = 1020;
break;
case 9:
output = 1022;
break;
case 10:
output = 1023;
break;
}
}
else {
switch (mapped) {
case 0:
output = 0;
break;
case 1:
output = 1;
break;
case 2:
output = 3;
break;
case 3:
output = 7;
break;
case 4:
output = 15;
break;
case 5:
output = 31;
break; //red to green
case 6:
output = 63;
break;
case 7:
output = 127;
break;
case 8:
output = 255;
break;
case 9:
output = 511;
break;
case 10:
output = 1023;
break;
}
}
setCmdMode();
sendLED(output);
latchData();
}
void LEDBar::displayCounter(uint16_t displayVal)
{
setCmdMode();
sendLED(displayVal);
latchData();
}
void LEDBar::setSingleBar(uint8_t barnum)
{
setCmdMode();
sendLED(0x01 << barnum);
latchData();
}
