请模友们帮我看看

噢噢噢 · 发表于 2018-7-12 12:45:48

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玩四轴有好几年了，就想自己diy个悟，只为装逼，买了3d打印机，打印了全部零件，关键卡在了变形部分，用了arduino nano和行程开关控制舵机，程序是我网上找的，我感觉程序里定义的引脚和连接图不一样（实物连接图在下面）自己搞了好久还不行，请模友们帮我看看。不胜感激最下面是程序。

// Designed for Skull Quadcopter
// Rev 1.0

#include <Servo.h>
#include <PinChangeInt.h>

// Define RX variables
#define PIN1 2
#define PIN1dataReg PIND
#define pin1state (PIN1dataReg & (1 << PIN1))
volatile long pulseStart1; // pulse start time measured from millies in ISR for pin 1
volatile long pulseTime1; // pulse width time measured from millies in ISR for pin 1 <-- this is the output we require

Servo myservo;  // create servo object to control a servo
int pos = 0; // variable to store the servo position

// Define Microswitch pins
const int msdown = 5;
const int msup = 4;
int msdownstate = 0;
int msupstate = 0;

// Define Variables for LEDs
int led1 = 6;                   // output pin for LED 1
int led2 = 7;                   // output pin for LED 2
int led3 = 8;                   // output pin for LED 3
int led4 = 9;                   // output pin for LED 4
int led13 = 13;                // onboard LED indictor incase no others are attached
unsigned long time;             // holds current time for change of state
int flashtime = 400;          // time to flash LEDs in milliseconds
boolean ledon = false;       // remembers start of LED
boolean movedown = true;    // safety feature
boolean moveup = true;       // safety feature

// The below procedure handles the pulse from the RX input
void handlePin1()
{
  if(pin1state)
pulseStart1=micros(); // we got a positive edge
  else
pulseTime1=micros()-pulseStart1; // Negative edge: get pulsewidth
}

// LED Control - very basic, can be expanded.
void turnledoff() {
digitalWrite(led1, LOW);
digitalWrite(led2, LOW);
digitalWrite(led3, LOW);
digitalWrite(led4, LOW);
digitalWrite(led13, LOW);
  }
  void turnledon() {
digitalWrite(led1, HIGH);
digitalWrite(led2, HIGH);
digitalWrite(led3, HIGH);
digitalWrite(led4, HIGH);
digitalWrite(led13, HIGH);
}
  void flashled() {
   // LED Flash
  if (millis() - time > flashtime){
   time = millis();

   if (ledon){
      turnledoff();
      ledon = false;
   } else {
      turnledon();
      ledon = true;
   }

  }

  }

// Lets set everything up
void setup() {
// initialize serial communication at 115200 bits per second so we can see whats going on:
  Serial.begin(115200);

  pinMode(PIN1, INPUT);       // Initialize rx input pin
  digitalWrite(PIN1, HIGH);    // Set the rx pin to High to start the counter
  PCintPort::attachInterrupt(PIN1, &handlePin1, CHANGE); // Attach the interrupt

  pinMode(led1, OUTPUT);       // Assign output mode to pin for LED 1
  pinMode(led2, OUTPUT);       // Assign output mode to pin for LED 2
  pinMode(led3, OUTPUT);       // Assign output mode to pin for LED 3
  pinMode(led4, OUTPUT);       // Assign output mode to pin for LED 4
  pinMode(led13, OUTPUT);       // Assign output mode to pin for LED 4

  pinMode(msup, INPUT);
  pinMode(msdown, INPUT);
  msupstate = digitalRead(msup);
  msdownstate = digitalRead(msdown);
  time = millis();             // Save current millis reading (this is a counter that always runs in milliseconds)
  turnledon();
}

// Main Program
void loop() {

  msupstate = digitalRead(msup);
  msdownstate = digitalRead(msdown);
  // read the input channels

if (pulseTime1 > 900 && pulseTime1 < 1300){ //legs down
myservo.attach(3);
pos = 0;
moveup = true;
if (msupstate == LOW){
   if (movedown){myservo.write(pos);}
flashtime = 200;
flashled();
} else {
   movedown = false;
   myservo.detach();
   turnledon();
}
}
if (pulseTime1 > 1299 && pulseTime1 < 1701){ //no movement
myservo.detach();

pos = 100;
}

  if (pulseTime1 > 1700) { //legs up
  myservo.attach(3);
pos = 180;
movedown = true;
if (msdownstate == LOW){
   if (moveup) {myservo.write(pos);}
flashtime = 200;
flashled();
} else {
   moveup = false;
   turnledon();
   myservo.detach();
}
  }

}

请模友们帮我看看模友之吧app,北京rc模友,有请还是友请,自己友模玩作者:噢噢噢 748