C++ (Cpp) RC_Channel::get_reverse Examples

Example #1

File: AP_Motors_Class.cpp Project: ArmaJo/ardupilot

// convert input in 0 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_0to1(float input, const RC_Channel& servo)
{
    int16_t ret;

    input = constrain_float(input, 0.0f, 1.0f);

    if (servo.get_reverse()) {
        input = 1.0f-input;
    }

    ret = input * (servo.get_radio_max() - servo.get_radio_min()) + servo.get_radio_min();

    return constrain_int16(ret, servo.get_radio_min(), servo.get_radio_max());
}

Example #2

File: AP_Motors_Class.cpp Project: ArmaJo/ardupilot

// convert input in -1 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_1to1(float input, const RC_Channel& servo)
{
    int16_t ret;

    input = constrain_float(input, -1.0f, 1.0f);

    if (servo.get_reverse()) {
        input = -input;
    }

    if (input >= 0.0f) {
        ret = ((input * (servo.get_radio_max() - servo.get_radio_trim())) + servo.get_radio_trim());
    } else {
        ret = ((input * (servo.get_radio_trim() - servo.get_radio_min())) + servo.get_radio_trim());
    }

    return constrain_int16(ret, servo.get_radio_min(), servo.get_radio_max());
}