roboforum.ru

  if(button > 1500 || button == 0)

digitalWrite(8, HIGH);

#include "rc_ch4.h"
Receiver_4ch receiver;
long button = 1500;
long gas = 1500;
long rudder = 1500;
long left = 0;
long right  = 0;



void setup() {
  //Serial.begin(115200);
  //Serial.println("RC tank run");
  pinMode(8, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(11, OUTPUT);
 
  receiver.initialize();
}

void loop() {
  receiver.read();
  button = receiver.getRaw(CH_1);
  gas    = receiver.getRaw(CH_2);
  rudder = receiver.getRaw(CH_3);
  //Serial.print(button);  Serial.print("\t");
  //Serial.print(gas);  Serial.print("\t");
  //Serial.println(rudder);
 
  if(button > 1500 || button == 0)
  {left = 0;
  right = 0;
  }
  else
  {
  rudder = rudder - 1500;
  left = gas + rudder;
  right = gas - rudder;
  left = constrain(left, 1100, 1900);
  right = constrain(right, 1100, 1900);
 
   
 
  if(left >= 1550)
  { digitalWrite(8, HIGH);
    left = left - 1550;
    left = map(left, 0, 350, 0, 255);
  }
  else
  { digitalWrite(8, LOW);
    if(left <= 1450)
    {
      left = 1450 - left ;
      left = map(left, 0, 350, 0, 255);
    }
    else
    {left = 0;     
    }
  }
 
if(right >= 1550)
  { digitalWrite(3, HIGH);
    right = right - 1550;
    right = map(right, 0, 350, 0, 255);
  }
  else
  { digitalWrite(3, LOW);
    if(right <= 1450)
    {
      right = 1450 - right ;
      right = map(right, 0, 350, 0, 255);
    }
    else
    {right = 0;     
    }
  }

  //Serial.print(left);  Serial.print("\t");             
  //Serial.println(right);
  }
  analogWrite(6, left);
  analogWrite(11, right);
 
  //delay (10);
}