void Plane::demo_servos(uint8_t i)
{
while(i > 0) {
gcs_send_text(MAV_SEVERITY_INFO,"Demo servos");
demoing_servos = true;
servo_write(1, 1400);
hal.scheduler->delay(400);
servo_write(1, 1600);
hal.scheduler->delay(200);
servo_write(1, 1500);
demoing_servos = false;
hal.scheduler->delay(400);
i--;
}
}
void Plane::demo_servos(uint8_t i)
{
while(i > 0) {
gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
demoing_servos = true;
servo_write(1, 1400);
hal.scheduler->delay(400);
servo_write(1, 1600);
hal.scheduler->delay(200);
servo_write(1, 1500);
demoing_servos = false;
hal.scheduler->delay(400);
i--;
}
}
int main()
{
t_firmata *firmata;
t_servo *servo;
firmata = firmata_new("/dev/ttyACM99");
while(!firmata->isReady)
firmata_pull(firmata);
sleep(1);
servo = servo_attach(firmata, 3);
int val = 10;
while (1)
{
sleep(1);
if (val++ == 180)
val = 10;
servo_write(servo, val);
}
}
int8_t Plane::test_passthru(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
hal.scheduler->delay(1000);
while(1) {
hal.scheduler->delay(20);
// New radio frame? (we could use also if((millis()- timer) > 20)
if (hal.rcin->new_input()) {
cliSerial->print_P(PSTR("CH:"));
for(int16_t i = 0; i < 8; i++) {
cliSerial->print(hal.rcin->read(i)); // Print channel values
print_comma();
servo_write(i, hal.rcin->read(i)); // Copy input to Servos
}
cliSerial->println();
}
if (cliSerial->available() > 0) {
return (0);
}
}
return 0;
}
