58 lines
1.3 KiB
C++
58 lines
1.3 KiB
C++
// ...some very simple DShot example generating a DShot300 signal.
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#include <Arduino.h>
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#include <DShotRMT.h>
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// Define USB serial port if available
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#ifdef SERIAL
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#define USB_Serial Serial
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constexpr auto USB_SERIAL_BAUD = 115200;
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#endif // SERIAL
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// Define motor pin and DShot protocol
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constexpr auto MOTOR_PIN = GPIO_NUM_4;
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constexpr auto DSHOT_MODE = DSHOT300;
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// Define failsafe and initial throttle value
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constexpr auto FAILSAFE_THROTTLE = 0x3E7;
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constexpr auto INITIAL_THROTTLE = 0x30;
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// Initialize DShotRMT object for the motor
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DShotRMT motor01(MOTOR_PIN, RMT_CHANNEL_0);
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void setup()
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{
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// Start USB serial port
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USB_Serial.begin(USB_SERIAL_BAUD);
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// Start DShot signal generation
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motor01.begin(DSHOT_MODE);
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}
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void loop()
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{
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// Read throttle value from serial input
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auto throttle_input = readSerialThrottle();
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// Set the throttle value
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auto throttle_value = (throttle_input > 0) ? throttle_input : FAILSAFE_THROTTLE;
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// Send the throttle value to the motor
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motor01.sendThrottleValue(throttle_value);
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// Print the throttle value to the serial console
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USB_Serial.println(throttle_value);
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}
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// Read throttle value from USB serial input
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uint16_t readSerialThrottle()
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{
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if (USB_Serial.available() > 0)
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{
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return USB_Serial.readStringUntil('\n').toInt();
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}
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else
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{
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return 0;
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}
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}
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