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68 lines
2.3 KiB
C++
68 lines
2.3 KiB
C++
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#pragma once
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#include <Arduino.h>
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#include <map>
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#include <unordered_map>
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#include <vector>
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uint16_t testChannels[16] = {1500, 2000, 1350, 1400, 1505, 1506, 1507, 1508,
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1509, 1510, 1511, 1512, 1513, 1514, 1515, 1516};
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/*
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commands sending message comments
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-----------------------------------------------------
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roll rc 1 <value> // move left or right
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pitch rc 2 <value> // move forward or backwards
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yaw rc 4 <value> // turn left or right
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throttle rc 3 <value> // move up or down
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*/
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enum Command
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{
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HEART_BEAT = 0, // Corresponds to rc 0
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ROLL = 1, // Corresponds to rc 1
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PITCH = 2, // Corresponds to rc 2
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THROTTLE = 3, // Corresponds to rc 3
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YAW = 4, // Corresponds to rc 4
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//// ----- Not Assigned Yet -----
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AUX1 = 5, // Corresponds to rc 5
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AUX2 = 6, // Corresponds to rc 6
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AUX3 = 7, // Corresponds to rc 7
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AUX4 = 8, // Corresponds to rc 8
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AUX5 = 9, // Corresponds to rc 9
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AUX6 = 10 // Corresponds to rc 10
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};
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// Create a map from Command to string
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std::unordered_map<Command, String> commandToStringMap = {{HEART_BEAT, "HEART_BEAT"},
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{ROLL, "ROLL"},
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{PITCH, "PITCH"},
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{YAW, "YAW"},
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{THROTTLE, "THROTTLE"}};
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// Define the mapping table
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std::vector<std::pair<uint8_t, uint16_t>> channelValueMappingTable = {
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{0, 1300}, {1, 1325}, {2, 1350}, {3, 1375}, {4, 1400}, {5, 1425},
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{6, 1450}, {7, 1475}, {8, 1500}, {9, 1525}, {10, 1550}, {11, 1575},
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{12, 1600}, {13, 1625}, {14, 1650}, {15, 1675}};
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// 0 - 1300 0
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// 1300 - 1325 1
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// 1325 - 1350 2
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// 1350 - 1375 3
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// 1375 - 1400 4
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// 1400 - 1425 5
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// 1425 - 1450 6
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// 1450 - 1475 7
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// 1475 - 1500 8
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// 1500 - 1525 9
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// 1525 - 1550 10
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// 1550 - 1575 11
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// 1575 - 1600 12
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// 1600 - 1625 13
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// 1625 - 1650 14
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// 1650 - 1675 15
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#define INIT_SBUS_ARRAY \
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{1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500, \
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1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500}
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