//END RC constants
public static void Main()
{
//RC stuff
// Setup steering servo
steering = new Servo(Pins.GPIO_PIN_D9);
// Setup ESC
xl5 = new SpeedController(Pins.GPIO_PIN_D10, new TRAXXAS_XL5());
xl5.DriveMode = SpeedController.DriveModes.Forward;
//End RC stuff
Listener webServer = new Listener(RequestReceived);
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
while (true)
{
// Blink LED to show we're still responsive
led.Write(!led.Read());
Thread.Sleep(500);
}
}
public static void Main()
{
// Setup steering servo
steering = new Servo(Pins.GPIO_PIN_D9);
// Setup ESC
xl5 = new SpeedController(Pins.GPIO_PIN_D10, new TRAXXAS_XL5());
xl5.DriveMode = SpeedController.DriveModes.Forward;
// Setup PPM decoder channels
//throttleChannel = new PPM_Channel(Pins.GPIO_PIN_D7);
//steeringChannel = new PPM_Channel(Pins.GPIO_PIN_D6);
// Set the servo channel to proper output scaling
//steeringChannel.calibrateOutput(0, 180);
// Sweep the wheels from left to right
for (int i = 0; i <= 30; i++)
{
steering.Degree = i * 6;
Thread.Sleep(30);
}
// Center steering
steering.Degree = 90.5;
// Switch to RC control mode
while (true)
{
// Set the steering servo to the PPM wave
//steering.Degree = steeringChannel.Read;
steering.Degree = 0;
// Get the throttle input
//int throttleIn = throttleChannel.Read;
int throttleIn = 50;
// Figure out which direction we are going
if (throttleIn >= 0)
xl5.DriveMode = SpeedController.DriveModes.Forward;
else
{
// Set ESC to reverse
//xl5.DriveMode = SpeedController.DriveModes.Reverse;
// Flip the negative to a positive
//throttleIn = throttleIn * -1;
// For now, let's just pull the throttle all the way out
xl5.Throttle = 0;
}
// Are we going too fast?
if (throttleIn > speedLimit)
throttleIn = speedLimit;
// Set the throttle
xl5.Throttle = throttleIn;
}
}
/// <summary>
/// Construct, get the ESC handle
/// </summary>
/// <param name="escHandle"></param>
public ESC_AutoSequencer(SpeedController escHandle)
{
this.esc = escHandle;
}