222 lines
7.4 KiB
C++
222 lines
7.4 KiB
C++
/************************************************************************************
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* Throttle Quadrant using Arduino Micro & slide potentiometers
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* version 1.11
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*
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* https://github.com/jarnorankinen/ThrottleQuadrant
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*
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* Jarno Rankinen
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* jarno.rankinen+github@gmail.com
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*
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* It is recommended to connect one slider at a time and calibrate, then wire the next one and so on.
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*
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* Check the input pins in setup()!!
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*
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* Shows up as three joysticks, all named "Arduino Micro", use simulators own interface to bind the controls to correct axis.
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* It may be necessary to invert some axis.
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*
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* Calibration: (for throttle_l-axis in this example, you only need to do this once or after hardware modifications)
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* - Set calib = true
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* - Upload to Arduino
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* - Open the serial monitor
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* - Move the slider corresponding to throttle_l-axis to its min & max positions
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* - Note the min & max values of throttle_l
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* - Input the values to throttle_lmin & throttle_lmax
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* - Upload to Arduino
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* - Repeat for each axis
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* - Afterwards set calib == false & Upload to Arduino
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* - Remember to calibrate controller in the simulator
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*
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* Changelog:
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*
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* v1.0 Initial release
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*
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* v1.1 Switched to Joystick.h (single joystick library) for hassle-free Linux support. Changed behavior to update joystick axis output value
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* only if raw value changes more than +/-3, to filter input and allow simultaneous keyboard control.
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*
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* v1.11 Added rule to ignore spike values outside min-max range
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*
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* v1.2 Improved signal filtering. DELTA_MIN defines treshold for ignoring small changes, DELTA_MAX defines treshold for ignoring sudden large changes
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* from e.g. faulty potentiometers. Not perfect yet.
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*
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**********************************************************************************/
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#include "Joystick.h"
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//constants to filter input value glitching
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const uint8_t DELTA_MIN = 2;
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const uint8_t DELTA_MAX = 10;
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bool update = false;
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uint16_t throttle_l = 0; // raw data from the slider
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uint16_t throttle_lmin = 14, throttle_lmax = 236; //min & max values for calibration
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int throttle_l_axis = -128; // the value to give to the Joystick axis
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int tl_old = -128;
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uint16_t throttle_r = 0;
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uint16_t throttle_rmin = 14, throttle_rmax = 234;
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int throttle_r_axis = -128;
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int tr_old = -128;
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uint16_t prop_l = 0;
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uint16_t prop_lmin = 14, prop_lmax = 226;
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int prop_l_axis = 127;
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int pl_old = 127;
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uint16_t prop_r = 0;
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uint16_t prop_rmin = 14, prop_rmax = 232;
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int prop_r_axis = 359;
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int pr_old = 359;
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uint16_t mix_l = 0;
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uint16_t mix_lmin = 15, mix_lmax = 231;
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int mix_l_axis = 0;
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int ml_old = 0;
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uint16_t mix_r = 0;
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uint16_t mix_rmin = 15, mix_rmax = 235;
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int mix_r_axis = 0;
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int mr_old = 0;
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double rotation_multip = 1.591;
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/************* SET THIS AS true TO TURN CALIBRATION ON********************/
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bool calib = false; //Serial monitor on/off
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unsigned int delta(uint16_t a, uint16_t b) {
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int x = a - b;
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return abs(x);
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}
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void setup() {
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//Check that these are correct for your build
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pinMode(A0, INPUT_PULLUP); //left throttle, X-axis
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pinMode(A1, INPUT_PULLUP); //right throttle, Y-axis
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pinMode(A2, INPUT_PULLUP); //left prop, Z-axis
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pinMode(A3, INPUT_PULLUP); //right prop, X-rotation axis
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pinMode(A4, INPUT_PULLUP); //left mixture, Y-rotation axis
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pinMode(A5, INPUT_PULLUP); //right mixture, rudder axis
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Serial.begin(9600);
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Joystick.begin(false);
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tl_old = throttle_l = analogRead(A0);
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tr_old = throttle_r = analogRead(A1);
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pl_old = prop_l = analogRead(A2);
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pr_old = prop_r = analogRead(A3);
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ml_old = mix_l = analogRead(A4);
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mr_old = mix_r = analogRead(A5);
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}
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void loop() {
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throttle_l = analogRead(A0);
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if (calib == false && (throttle_l > throttle_lmax)) throttle_l = throttle_lmax;
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if (calib == false && (throttle_l < throttle_lmin)) throttle_l = throttle_lmin;
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throttle_r = analogRead(A1);
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if (calib == false && (throttle_r > throttle_rmax)) throttle_r = throttle_rmax;
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if (calib == false && (throttle_r < throttle_rmin)) throttle_r = throttle_rmin;
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prop_l = analogRead(A2);
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if (calib == false && (prop_l > prop_lmax)) prop_l = prop_lmax;
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if (calib == false && (prop_l < prop_lmin)) prop_l = prop_lmin;
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prop_r = analogRead(A3);
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if (calib == false && (prop_r > prop_rmax)) prop_r = prop_rmax;
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if (calib == false && (prop_r < prop_rmin)) prop_r = prop_rmin;
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mix_l = analogRead(A4);
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if (calib == false && (mix_l > mix_lmax)) mix_l = mix_lmax;
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if (calib == false && (mix_l < mix_lmin)) mix_l = mix_lmin;
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mix_r = analogRead(A5);
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if (calib == false && (mix_r > mix_rmax)) mix_r = mix_rmax;
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if (calib == false && (mix_r < mix_rmin)) mix_r = mix_rmin;
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if(calib==true) { //Serial monitor for calibration
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Serial.println();
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Serial.print("throttle_l=");Serial.print(throttle_l);
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Serial.print(" -> ");
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Serial.print("throttle_l_axis=");Serial.println(throttle_l_axis);
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Serial.print("throttle_r=");Serial.print(throttle_r);
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Serial.print(" -> ");
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Serial.print("throttle_r_axis=");Serial.println(throttle_r_axis);
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Serial.print("prop_l=");Serial.print(prop_l);
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Serial.print(" -> ");
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Serial.print("prop_l_axis=");Serial.println(prop_l_axis);
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Serial.print("prop_r=");Serial.print(prop_r);
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Serial.print(" -> ");
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Serial.print("prop_r_axis=");Serial.println(prop_r_axis);
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Serial.print("mix_l=");Serial.print(mix_l);
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Serial.print(" -> ");
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Serial.print("mix_l_axis=");Serial.println(mix_l_axis);
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Serial.print("mix_r=");Serial.print(mix_r);
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Serial.print(" -> ");
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Serial.print("mix_r_axis=");Serial.println(mix_r_axis);
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}
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if (DELTA_MIN<delta(throttle_l, tl_old) && delta(throttle_l, tl_old)<DELTA_MAX) {
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throttle_l_axis = 256*throttle_l/(throttle_lmax-throttle_lmin+5) - 128 - throttle_lmin; //convert raw values -> -128 - 128 (roughly, joystick calibration is still recommended via e.g. Windows joystick interface)
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Joystick.setXAxis(throttle_l_axis);
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tl_old = throttle_l;
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update = true;
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}
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else if (DELTA_MIN<delta(throttle_r, tr_old) && delta(throttle_r, tr_old)<DELTA_MAX) {
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throttle_r_axis = 256*throttle_r/(throttle_rmax-throttle_rmin+5) - 128 - throttle_rmin;
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Joystick.setYAxis(throttle_r_axis);
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tr_old = throttle_r;
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update = true;
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}
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else if (DELTA_MIN<delta(prop_l, pl_old) && delta(prop_l, pl_old)<DELTA_MAX) {
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prop_l_axis = 256*prop_l/(prop_lmax-prop_lmin+5) - 128 - prop_lmin;
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Joystick.setZAxis(prop_l_axis);
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pl_old = prop_l;
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update = true;
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}
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else if (DELTA_MIN<delta(prop_r, pr_old) && delta(prop_r, pr_old)<DELTA_MAX) {
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prop_r_axis = prop_r * rotation_multip - (prop_rmin + 5);
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Joystick.setXAxisRotation(prop_r_axis);
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pr_old = prop_r;
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update = true;
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}
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else if (DELTA_MIN<delta(mix_l, ml_old) && delta(mix_l, ml_old)<DELTA_MAX) {
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mix_l_axis = mix_l * rotation_multip - (mix_lmin + 5);
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Joystick.setYAxisRotation(mix_l_axis);
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ml_old = mix_l;
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update = true;
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}
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else if (DELTA_MIN<delta(mix_r, mr_old) && delta(mix_r, mr_old)<DELTA_MAX) {
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mix_r_axis = 254*(mix_r - mix_rmin)/(mix_rmax - mix_rmin);
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Joystick.setRudder(mix_r_axis);
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mr_old = mix_r;
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update = true;
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}
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else update=false;
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if (update==true) {
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Joystick.sendState();
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update=false;
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}
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Serial.println(delta(mr_old, mix_r));
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}
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