Splitting into separate files

01_setup.ino

@@ -0,0 +1,15 @@
+
+void setup() {
+	Serial.begin(9600);
+
+	pinMode(LEFT_MOTOR_PIN, OUTPUT);
+	pinMode(RIGHT_MOTOR_PIN, OUTPUT);
+	pinMode(LEFT_MOTOR_DIRECT_PIN, OUTPUT);
+	pinMode(RIGHT_MOTOR_DIRECT_PIN, OUTPUT);
+
+	for(byte i = LOW_CHANNEL; i <= NUM_CHANNELS; i++) {
+		pinMode(channels[i], INPUT);
+	}
+
+	delay(2000);
+}

02_main.ino

@@ -0,0 +1,97 @@
+char outputStr[100];
+int16_t averages[AVG_PERIODS];
+
+
+void loop() {
+#ifdef SCAN_MODE
+	for(byte i = LOW_CHANNEL; i <= NUM_CHANNELS; i++) {
+		readChannel(i);
+	}
+#else
+	Serial.println("============");
+	int throttle = getThrottle();
+	throttle = restrictThrottlePower(throttle);
+	throttle = getAverage(throttle);
+
+	digitalWrite(LEFT_MOTOR_DIRECT_PIN, throttle > 0 ? HIGH : LOW);
+	analogWrite(LEFT_MOTOR_PIN, throttle > 0 ? throttle : -throttle);
+#endif
+
+	Serial.println();
+	delay(SCAN_DELAY);
+}
+
+#define TIMEOUT_MICROS 30000
+
+uint16_t readChannel(byte channel) {
+	int val = pulseIn(channels[channel], HIGH, TIMEOUT_MICROS);
+
+#ifdef SCAN_MODE
+	if(val > 100) val -= 1000;
+	if(channel > 1) Serial.print(" ");
+	Serial.print(val);
+#else
+	sprintf(outputStr, "Channel %d:\t%d", channel, val);
+	Serial.println(outputStr);
+#endif
+	return val;
+}
+
+const int throtDeadHigh = THROT_NONE + THROT_DEAD_ZONE,
+	throtDeadLow = THROT_NONE - THROT_DEAD_ZONE;
+
+int getThrottle() {
+	int val = readChannel(THROT_CHANNEL);
+	Serial.print("Channel value: ");
+	Serial.print(val);
+	Serial.print("\t");
+	if(val <= THROT_OFF) {
+		Serial.println("Throttle is off");
+		return 0;
+	} else if(val < throtDeadHigh && val > throtDeadLow) {
+		Serial.println("Throttle in dead zone");
+		return 0;
+	}
+	
+
+	int throttle = val < THROT_NONE
+		? map(val, THROT_MIN, THROT_NONE, -OUTPUT_RANGE, 0)
+		: map(val, THROT_NONE, THROT_MAX, 0, OUTPUT_RANGE);
+	
+	throttle = constrain(throttle, -OUTPUT_RANGE, OUTPUT_RANGE);
+	Serial.print("Throttle: ");
+	Serial.println(throttle);
+	return throttle;
+}
+
+int restrictThrottlePower(int throttle) {
+	// Reduce the average voltage to something safe for the motor to consume.
+	throttle = (throttle * MAX_POWER_PERCENT) / 100;
+	Serial.print("Restricted throttle:\t");
+	Serial.println(throttle);
+
+	// Use the current value of the knob to reduce the speed.
+	int speedKnob = readChannel(SPEED_CHANNEL);
+	speedKnob = map(speedKnob, SPEED_MIN, SPEED_MAX, 0, 100);
+	speedKnob = constrain(speedKnob, 0, 100);
+	throttle = (throttle * speedKnob) / 100;
+	Serial.print("Speed knob:\t");
+	Serial.println(speedKnob);
+	Serial.print("Speed adjusted throttle:\t");
+	Serial.println(throttle);
+	
+	return throttle;
+}
+
+int getAverage(const int throttle) {
+	int total = throttle;
+	for(byte i = 0; i < AVG_PERIODS-1; i++) {
+		total += averages[i];
+		averages[i] = averages[i+1];
+	}
+	averages[AVG_PERIODS-1] = throttle;
+	total /= AVG_PERIODS;
+	Serial.print("Average adjusted throttle:\t");
+	Serial.println(total);
+	return total;
+}

rc_receiver_driving.ino

@@ -63,115 +63,3 @@ const byte channels[7] = {255, 8,9,10,11,12,13};
 #define LEFT_MOTOR_DIRECT_PIN 4
 #define RIGHT_MOTOR_PIN 6
 #define RIGHT_MOTOR_DIRECT_PIN 7
-
-char outputStr[100];
-int16_t averages[AVG_PERIODS];
-
-void setup() {
-	Serial.begin(9600);
-
-	pinMode(LEFT_MOTOR_PIN, OUTPUT);
-	pinMode(RIGHT_MOTOR_PIN, OUTPUT);
-	pinMode(LEFT_MOTOR_DIRECT_PIN, OUTPUT);
-	pinMode(RIGHT_MOTOR_DIRECT_PIN, OUTPUT);
-
-	for(byte i = LOW_CHANNEL; i <= NUM_CHANNELS; i++) {
-		pinMode(channels[i], INPUT);
-	}
-
-	delay(2000);
-}
-
-void loop() {
-#ifdef SCAN_MODE
-	for(byte i = LOW_CHANNEL; i <= NUM_CHANNELS; i++) {
-		readChannel(i);
-	}
-#else
-	Serial.println("============");
-	int throttle = getThrottle();
-	throttle = restrictThrottlePower(throttle);
-	throttle = getAverage(throttle);
-
-	digitalWrite(LEFT_MOTOR_DIRECT_PIN, throttle > 0 ? HIGH : LOW);
-	analogWrite(LEFT_MOTOR_PIN, throttle > 0 ? throttle : -throttle);
-#endif
-	
-	Serial.println();
-	delay(SCAN_DELAY);
-}
-
-#define TIMEOUT_MICROS 30000
-
-uint16_t readChannel(byte channel) {
-	int val = pulseIn(channels[channel], HIGH, TIMEOUT_MICROS);
-
-#ifdef SCAN_MODE
-	if(val > 100) val -= 1000;
-	if(channel > 1) Serial.print(" ");
-	Serial.print(val);
-#else
-	sprintf(outputStr, "Channel %d:\t%d", channel, val);
-	Serial.println(outputStr);
-#endif
-	return val;
-}
-
-const int throtDeadHigh = THROT_NONE + THROT_DEAD_ZONE,
-	throtDeadLow = THROT_NONE - THROT_DEAD_ZONE;
-
-int getThrottle() {
-	int val = readChannel(THROT_CHANNEL);
-	Serial.print("Channel value: ");
-	Serial.print(val);
-	Serial.print("\t");
-	if(val <= THROT_OFF) {
-		Serial.println("Throttle is off");
-		return 0;
-	} else if(val < throtDeadHigh && val > throtDeadLow) {
-		Serial.println("Throttle in dead zone");
-		return 0;
-	}
-	
-
-	int throttle = val < THROT_NONE
-		? map(val, THROT_MIN, THROT_NONE, -OUTPUT_RANGE, 0)
-		: map(val, THROT_NONE, THROT_MAX, 0, OUTPUT_RANGE);
-	
-	throttle = constrain(throttle, -OUTPUT_RANGE, OUTPUT_RANGE);
-	Serial.print("Throttle: ");
-	Serial.println(throttle);
-	return throttle;
-}
-
-int restrictThrottlePower(int throttle) {
-	// Reduce the average voltage to something safe for the motor to consume.
-	throttle = (throttle * MAX_POWER_PERCENT) / 100;
-	Serial.print("Restricted throttle:\t");
-	Serial.println(throttle);
-
-	// Use the current value of the knob to reduce the speed.
-	int speedKnob = readChannel(SPEED_CHANNEL);
-	speedKnob = map(speedKnob, SPEED_MIN, SPEED_MAX, 0, 100);
-	speedKnob = constrain(speedKnob, 0, 100);
-	throttle = (throttle * speedKnob) / 100;
-	Serial.print("Speed knob:\t");
-	Serial.println(speedKnob);
-	Serial.print("Speed adjusted throttle:\t");
-	Serial.println(throttle);
-	
-	return throttle;
-}
-
-int getAverage(const int throttle) {
-	int total = throttle;
-	for(byte i = 0; i < AVG_PERIODS-1; i++) {
-		total += averages[i];
-		averages[i] = averages[i+1];
-	}
-	averages[AVG_PERIODS-1] = throttle;
-	total /= AVG_PERIODS;
-	Serial.print("Average adjusted throttle:\t");
-	Serial.println(total);
-	return total;
-}