GardenRailway

GardenRailway.ino

#include <PulsePosition.h>

//  The orange R610x only outputs 6 channels if we change to frsky this will need to be 16 
const int8_t maxchans = 6 ;// this is nchannels 
int8_t numchans = maxchans;   
float rcvals[(maxchans+1)];

// ppm channel order for dsm2/dsmx
#define AILCHAN 1
#define ELECHAN 2
#define THRCHAN 3
#define RUDCHAN 4
#define AUXCHAN 5
#define GEARCHAN 6

//pin definitions for motor control
#define DEBUG_MOTOR 0  // set to 1 to print motor stuff
#define MCDIR1 33 // connected to inA 1
#define MCDIR2 34 // connected to inA 2
#define MCPPM 35  //connected to L298 inA enable

// Create PulsePosition and define a pin for the RX  /MAX                      
#define DEBUGRC 0
PulsePositionInput myIn; 
#define RCPPMINPUT 23    // recieves PPM from Orange R610x

void setup() {
  myIn.begin(RCPPMINPUT);
  pinMode(MCDIR1, OUTPUT);
  pinMode(MCDIR2, OUTPUT);
  Serial.println("Hi there we started...");
}


void getrcvalues() {
  // Every time new data arrives, store it in an array
  int8_t num = myIn.available();
  // Check if there is new data
  if (num > 0) {
    
    numchans=num;
    for (int8_t i = 1; i <=maxchans; i++) {
      rcvals[i] = myIn.read(i); 
    }

    if(num > maxchans){
      numchans=maxchans; //reset the global to maxchans
      Serial.print(num);
      Serial.println(" <== ppm availible exceeds maxchans channels");
      // read the myIn discarding the data as the frame is probably bogus
      for (int8_t i = maxchans; i<=num; i++) {
        myIn.read(i); 
      }
    }
  }
}

void printrcvalues() {
  //only print if we have data.
  //Serial.println(numchans);
  for(int i=1; i<=maxchans; i++){
    Serial.print("\t");    
    Serial.print(rcvals[i]);
  }
  Serial.println();
}

void controlmotor(int8_t dir, int16_t speed) {
switch (dir) {
    case 1: // set forward
    analogWrite(MCPPM, speed);
    digitalWrite(MCDIR1, HIGH);
    digitalWrite(MCDIR2, LOW);
    //Serial.println("GOING FORWARD");
    break;
    case 0 : //set stop
    analogWrite(MCPPM, 0);
    digitalWrite(MCDIR1, HIGH);
    digitalWrite(MCDIR2, LOW);
    //Serial.println("GOING FISHIN'");
    break;
    case -1 : //set reverse
    analogWrite(MCPPM, speed);
    digitalWrite(MCDIR1, LOW);
    digitalWrite(MCDIR2, HIGH);
   // Serial.println("GOING BACkWARD");
    break;
    default ://set stop
    analogWrite(MCPPM, 0);
    digitalWrite(MCDIR1, LOW);
    digitalWrite(MCDIR2, LOW);
    //Serial.println("GOING NOWHERE");
    break;
  }
}

void loop() {
  getrcvalues();
  //Decode the aux channel and use it to set direction
  int8_t motdir;
  if (rcvals[AUXCHAN]>1800) 
      motdir=1;
    else if (rcvals[AUXCHAN] <1300)
      motdir = -1;
    else 
      motdir = 0;
   
  float throttle = (rcvals[THRCHAN]-1110)/3.34;

  controlmotor(motdir, throttle);

  if (DEBUGRC) {
    printrcvalues();
  }
  if(DEBUG_MOTOR) {
    Serial.print(numchans);
    Serial.print("   ");
    Serial.print(maxchans);
    Serial.print("   ");
    Serial.println(throttle);
  }
}