Added an example to read 10 analog inputs, linearly map them to SBUS…

… servo commands, and then send those commands to the servos. An interrupt is used to control packet timing.
dannysilence · Jan 13, 2017 · effbebb · effbebb
1 parent fb8f06b
commit effbebb
Showing 1 changed file with 82 additions and 0 deletions.
diff --git a/examples/AIN_SBUS_example/AIN_SBUS_example.ino b/examples/AIN_SBUS_example/AIN_SBUS_example.ino
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+/*
+SBUS_example.ino
+Brian R Taylor
+[email protected]
+2017-01-13
+
+Copyright (c) 2016 Bolder Flight Systems
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or 
+substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
+BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
+DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+// This example reads 10 analog inputs, linearly maps them to SBUS
+// servo commands and sends the command to the servos. In this case
+// an interrupt is used to control packet timing.
+
+#include <TimerOne.h>
+#include "SBUS.h"
+
+// a SBUS object, which is on Teensy hardware
+// serial port 1
+SBUS x8r(1);
+
+// analog read values, 16 bit counts
+uint16_t ain[10];
+
+void setup() {
+
+	// serial to display the channel commands for debugging
+	Serial.begin(115200);
+
+	// begin the SBUS communication
+  	x8r.begin();
+
+  	// setup the analog read resolution to 16 bits
+  	analogReadResolution(16);
+
+  	// setup an interrupt to send packets every 9 ms
+  	Timer1.initialize(9000);
+  	Timer1.attachInterrupt(sendSBUS);
+}
+
+void loop() {
+
+}
+
+/* reads analog inputs and sends an SBUS packet */
+void sendSBUS() {
+	float scaleFactor = 1639.0f / 65535.0f;
+	float bias = 172.0f;
+	uint16_t channels[16];
+
+	// read the analog inputs
+  	for(uint8_t i = 14; i < 24; i++) {
+  		ain[i-14] = analogRead(i);
+  	}
+
+  	// linearly map the analog measurements (0-65535)
+  	// to the SBUS commands (172-1811)
+  	for(uint8_t i = 0; i < 10; i++) {
+  		channels[i] = (uint16_t)(((float)ain[i]) * scaleFactor + bias);
+  		Serial.print(channels[i]); // print the channel command (172-1811)
+  		Serial.print("\t");
+  	}
+  	Serial.println();
+
+	// write the SBUS packet to an SBUS compatible servo
+    x8r.write(&channels[0]);
+}
+