rc_receiver_driving/rc_receiver_driving.ino

/////////////////////////////////////////////////////////////////////////
// Configuration
//////////////////////////////////////////////////

#define MAX_POWER_PERCENT 90 // The maximum percentage on time, used to decrease average voltage to the motor.
#define SCAN_DELAY 10 // Delay between updates in ms
#define AVG_OVER_MILLIS 1500 // Number of milliseconds to average the speed over

/////////////////////////////////////////////////////////////////////////
// Output config
/////////////////////////////////////////////////////////////////////////

//#define SCAN_MODE // If set, output channel values rather than driving the robot.
//#define DEBUG // If set, adjust timings and output debug lines

#ifdef DEBUG
#define SCAN_DELAY 1000
#define AVG_OVER_MILLIS 3000
#endif

/////////////////////////////////////////////////////////////////////////
// Internal values
/////////////////////////////////////////////////////////////////////////

#define LEFT 0
#define RIGHT 1
#define OUTPUT_RANGE 255 // The maximum value for PWM output
#define THROT_RANGE 1000 // Value output by throttle (-THROT_RANGE to THROT_RANGE), later constrained to OUTPUT_RANGE
#define STEER_RANGE THROT_RANGE/2 // Value output by steering (-STEER_RANGE to STEER_RANGE) to adjust throttles
#define AVG_PERIODS AVG_OVER_MILLIS/SCAN_DELAY // Number of periods to average the speed over (reduces random variances)

/////////////////////////////////////////////////////////////////////////
// Channel pins
/////////////////////////////////////////////////////////////////////////

#define LOW_CHANNEL 1
#define NUM_CHANNELS 6

// Channel pins. Using numbers 1-6 for clarity, so using a bad value in index 0.
const byte channels[7] = {255, 8,9,10,11,12,13};
// How long (in microseconds) the channel is being held high for.
int channelVals[NUM_CHANNELS + 1];

/////////////////////////////////////////////////////////////////////////
// Channel values
/////////////////////////////////////////////////////////////////////////

#define DEAD_MAN_MILLIS 100 // Time to wait after last interrupt before figuring the controller turned off

// Right horizontal (steering)
#define STEER_CHANNEL 1
#define STEER_LEFT 1300
#define STEER_RIGHT 1690
#define STEER_NONE 1500
#define STEER_DEAD_ZONE 30 // 10% of the range is dead zone

// Right vertical (throttle)
#define THROT_CHANNEL 2
#define THROT_MAX 1940
#define THROT_MIN 1160
#define THROT_NONE 1510// Halfway range
#define THROT_DEAD_ZONE 30 // approx 10% of the range is dead
#define THROT_OFF 0 // Anything below this means the throttle switch (upper right) is off

#define CH_4_MIN 0
#define CH_4_MAX 0


// Right knob
#define LIGHT_CHANNEL 5
#define LIGHT_MIN 990
#define LIGHT_MAX 1990

// Left knob
#define SPEED_CHANNEL 6
#define SPEED_MIN 1000
#define SPEED_MAX 2000

/////////////////////////////////////////////////////////////////////////
// Output pins
/////////////////////////////////////////////////////////////////////////

#define LEFT_MOTOR_DIRECT_PIN 4
#define LEFT_MOTOR_PIN 5
#define RIGHT_MOTOR_PIN 6
#define RIGHT_MOTOR_DIRECT_PIN 7