caperren/osurc_mars_rover_2017_2018
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Wrote the base of rover_control. Currently drives rover using FrSky. Needs tuning.

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This commit is contained in:
Corwin Perren
2018-02-26 03:04:21 -08:00
parent 5837622d3c
commit f37337a976
90 changed files with 34328 additions and 49773 deletions
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7
software/firmware/iris/iris.ino
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@@ -46,7 +46,7 @@ uint8_t message_count = 0;
uint8_t failSafe;
uint16_t lostFrames = 0;
uint16_t telem_24v_scalar = 37989;
uint16_t telem_24v_scalar = 37500;
////////// Class Instantiations //////////
SBUS x8r(SBUS_HARDWARE_PORT);
@@ -57,7 +57,7 @@ void setup() {
x8r.begin();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(2000000);
slave.begin(115200);
Serial.begin(9600);
}
@@ -104,8 +104,7 @@ void poll_sbus(){
}
void poll_sensors(){
uint16_t v24 = telem_24v_scalar * (analogRead(HARDWARE::TELEM_24V) / 8192.0);
Serial.println(v24);
modbus_data[MODBUS_REGISTERS::VOLTAGE_24] = telem_24v_scalar * (analogRead(HARDWARE::TELEM_24V) / 8192.0);
}