} SERVO _servo_ = MAKE_SERVO(false,B5,1500,1000); SERVO _servo2_ = MAKE_SERVO(false,B6,1500,1000); SERVO _servo3_ = MAKE_SERVO(false,B7,1500,1000); SERVO _servo4_ = MAKE_SERVO(false,E3,1500,1000); SERVO _servo5_ = MAKE_SERVO(false,E4,1500,1000); SERVO _servo6_ = MAKE_SERVO(false,E5,1500,1000); static const SERVO_LIST PROGMEM Servos1_list[] = { &_servo_, &_servo2_, &_servo3_, &_servo4_, &_servo5_, &_servo6_ }; SERVO_DRIVER _Servos1_ = MAKE_SERVO_DRIVER(Servos1_list); SERVO _servo7_ = MAKE_SERVO(false,H3,1500,1000); SERVO _servo8_ = MAKE_SERVO(false,H4,1500,1000); SERVO _servo9_ = MAKE_SERVO(false,H5,1500,1000); SERVO _servo10_ = MAKE_SERVO(false,L3,1500,1000); SERVO _servo11_ = MAKE_SERVO(false,L4,1500,1000); SERVO _servo12_ = MAKE_SERVO(false,L5,1500,1000); static const SERVO_LIST PROGMEM servos2_list[] = { &_servo7_, &_servo8_, &_servo9_, &_servo10_, &_servo11_, &_servo12_ }; SERVO_DRIVER _servos2_ = MAKE_SERVO_DRIVER(servos2_list);
#define DATA_FLAG_RX_EEPROM 0x04 uint16_t uptime; // Define servos SERVO servo_0 = MAKE_SERVO(TRUE , B7, 1000, 1000); SERVO servo_1 = MAKE_SERVO(TRUE , B6, 1500, 500); SERVO servo_2 = MAKE_SERVO(TRUE , B5, 1500, 500); SERVO servo_3 = MAKE_SERVO(TRUE , E5, 1500, 500); SERVO servo_4 = MAKE_SERVO(TRUE , E4, 1500, 500); SERVO servo_5 = MAKE_SERVO(TRUE , E3, 1500, 500); // Create the list - remember to place an & at the // start of each servo name SERVO_LIST servos[] = {&servo_0,&servo_1,&servo_2,&servo_3,&servo_4,&servo_5}; // Create a driver for the list of servos SERVO_DRIVER bank1 = MAKE_SERVO_DRIVER(servos); // define CYRF6936 RF modules on SPI bus. #define MAKE_SPI_GENERIC_DEVICE(mode,order,select,filler) { MAKE_SPI_DEVICE(mode,order,select,filler) } CYPRESS_CYRF cyrf_0 = MAKE_SPI_GENERIC_DEVICE(SPI_MODE_0,SPI_DATA_ORDER_MSB,B0,0x00); CYPRESS_CYRF cyrf_1 = MAKE_SPI_GENERIC_DEVICE(SPI_MODE_0,SPI_DATA_ORDER_MSB,B4,0x00); static SPI_DEVICE_LIST devices[] = {&cyrf_0._device_, &cyrf_1._device_}; SPI bus = MAKE_SPI(devices); // Now create any global variables such as motors, servos, sensors etc // This routine is called once only and allows you to do set up the hardware // Dont use any 'clock' functions here - use 'delay' functions instead