Willas Shrediquette Tricopter / Quadrocopter / Hexacopter

[geraldf]

Ich hab jetzt ein kleines Programm mit Bascom geschrieben, das den Konverter testet. Ez steuert jeden Motor einzeln hoch, indem es den Motorwert von 0 bis 130 alle 100ms um 1 erhöht, und zwar erst den Linke, dann den rechten und zum Schluss den hinteren Motor. Als Anzeige wird für jeden Motor eine LED angesteuert. Da bei mir die Motoren erst bei einm Wert ab 50 reagieren muss man ein wenig Gedult haben, bis der erste Motor läuft.

Hier das Programm, und als Anhang auch das HEX file dazu.

'===CHIP SETTINGS===
$regfile = "m328pdef.dat"
$framesize = 64
$swstack = 64
$hwstack = 64
$crystal = 16000000
$baud = 38400


'===SERIAL IN SETTINGS===
Config Serialout = Buffered , Size = 254
Config Serialin = Buffered , Size = 254

'===ADC SETTINGS===
Config Adc = Single , Prescaler = Auto , Reference = Avcc   'avcc reference @ arduino =5V

'===PORT SETTINGS===
Config Scl = Portd.5                                        'for ESCs
Config Sda = Portd.4                                        'for ESCs
Config Pind.6 = Output                                      'servo
Portd.6 = 0                                                 'servo
Config Pind.7 = Output                                      'led 1
Config Pinb.0 = Output                                      'led 2
Config Pinb.1 = Output                                      'led 3
Config Pinb.5 = Output                                      'Arduino LED_grn

'===DECLARATIONS===
'--Global--

'--I2C--
Const M_h = &H52                                            'i2c address: motor at the back
Const M_l = &H54                                            'i2c address: motor at the left
Const M_r = &H56                                            'i2c address: motor at the right
Dim Ms_h_i As Integer                                       'contains motor nominal value as integer
Dim Ms_r_i As Integer                                       'contains motor nominal value as integer
Dim Ms_l_i As Integer                                       'contains motor nominal value as integer
Dim Ms_h As Word                                            'converts motor nominal value
Dim Ms_r As Word                                            'converts motor nominal value
Dim Ms_l As Word                                            'converts motor nominal value
Dim Currentmotor As Integer

'--Subs--
Declare Sub Send_mots                                       'check and reshape motor signals and send them via I2C

'--Alias's
Led_1 Alias Portd.7
Led_2 Alias Portb.0
Led_3 Alias Portb.1
Led_grn Alias Portb.5                                       'a green led on the arduino mini pro

'===START CONDITIONS===



Set Led_1                                                   'light up led's after reset

Set Led_2
Set Led_3

'--Variables--                                    'prepare some variables

'Clear Serialin
'Clear Serialout

'--Startup 2--
Waitms 100
Start Adc
I2cinit
Currentmotor = 1
Ms_h = 0 : I2csend M_h , Ms_h                               'turn off the motors
Ms_r = 0 : I2csend M_r , Ms_r
Ms_l = 0 : I2csend M_l , Ms_l
Led_grn = 0
Waitms 100
Reset Led_1                                                 'turn off led's
Reset Led_2
Reset Led_3

'==============MAIN LOOP========================================================
'All this does is calling subs in a loop all the time
Do
  Send_mots
Loop
End

'===MOTORS I2C==================================================================
Sub Send_mots
If Ms_l > 130 Then
   Ms_l = 0
   Currentmotor = Currentmotor + 1
   If Currentmotor > 3 Then
      Currentmotor = 1
   End If
End If


If Ms_r > 130 Then
   Ms_r = 0
   Currentmotor = Currentmotor + 1
   If Currentmotor > 3 Then
      Currentmotor = 1
   End If
End If
If Ms_h > 130 Then
   Ms_h = 0
   Currentmotor = Currentmotor + 1
   If Currentmotor > 3 Then
      Currentmotor = 1
   End If
End If


If Currentmotor = 1 Then
   Ms_l = Ms_l + 1
   Set Led_1
   Reset Led_2
   Reset Led_3
End If

If Currentmotor = 2 Then
   Ms_r = Ms_r + 1
   Reset Led_1
   Set Led_2
   Reset Led_3

End If

If Currentmotor = 3 Then
   Ms_h = Ms_h + 1
   Reset Led_1
   Reset Led_2
   Set Led_3

End If
  I2csend M_h , Ms_h
  I2csend M_r , Ms_r
  I2csend M_l , Ms_l
  Waitms 100
End Sub