Homebuilt ROVs Forum

Code: Select all

    //Take joystick values and mix to give vectored output.....

    STBDFOR   = (rxdata.surg - rxdata.sway - rxdata.head + 180);      //  See spreadsheet for calcs and results
    STBDAFT   = (rxdata.surg - rxdata.sway + rxdata.head);            //
    PORTAFT   = (rxdata.surg + rxdata.sway - rxdata.head);            //
    PORTFOR   = (rxdata.surg + rxdata.sway + rxdata.head - 180);      //


    // Thruster calcs would result in out of range results, restrict calcs to servo range
    if (STBDFOR > 179)   {
      (STBDFOR = 178);
    }
    if (STBDFOR < 1)     {
      (STBDFOR = 2);
    }

    if (STBDAFT > 179)   {
      (STBDAFT = 178);
    }
    if (STBDAFT < 1)     {
      (STBDAFT = 2);
    }

    if (PORTAFT > 179) {
      (PORTAFT = 178);
    }
    if (PORTAFT < 1)    {
      (PORTAFT = 2);
    }

    if (PORTFOR > 179) {
      (PORTFOR = 178);
    }
    if (PORTFOR < 1)   {
      (PORTFOR = 2);
    }


    // Write commands to ESC's after mix calcs

    stbda.write   (STBDAFT);
    stbdf.write   (STBDFOR);
    porta.write   (PORTAFT);
    portf.write   (PORTFOR);
    verta.write   (rxdata.dept);
    vertf.write   (rxdata.dept);
//  manip.write   (rxdata.jaw);

Code: Select all

//Take joystick values and mix to give vectored output.....
 STBDFOR   = (rxdata.surg - rxdata.sway - rxdata.head + 180);      //  See spreadsheet for calcs and results
 STBDAFT   = (rxdata.surg - rxdata.sway + rxdata.head);            //
 PORTAFT   = (rxdata.surg + rxdata.sway - rxdata.head);            //
 PORTFOR   = (rxdata.surg + rxdata.sway + rxdata.head - 180);      //


//Thruster calcs would result in out of range results, restrict calcs to servo range
 STBDFOR = constrain(STBDFOR, 2, 178);
 STBDAFT = constrain(STBDAFT, 2, 178);
 PORTFOR = constrain(PORTFOR, 2, 178);
 PORTAFT = constrain(PORTAFT, 2, 178);
 
//Write commands to ESC's after mix calcs
 stbda.write   (STBDAFT);
 stbdf.write   (STBDFOR);
 porta.write   (PORTAFT);
 portf.write   (PORTFOR);
 verta.write   (rxdata.dept);
 vertf.write   (rxdata.dept);