Does anyone know how to send the re-center/return home command to Ronin S via Sbus? I got the pan tilt and roll working. I use Arduino Nano every + inverter to send the commands. Using sbus library If I want to turn left I send number < 1023 to CH1 and right > 1023 to CH1 etc. and that works fine but I have no idea how to send the recenter command. I have tried sending values 0-2048 to channels 5,6 and 7 and toggling the values back and forth (imitating the trigger douplecklick) but nothing happens.
#include <BMC_SBUS.h> // ALERT!!!! CHANGE SERIAL PORT NUMBER IN BMC_SBUS.h FOR UNO.
//Params
boolean firstrun = true;
boolean needreset = true; //false if reset just happened
//Declare BMC_SBUS Object
BMC_SBUS mySBUS;
// Sbus delay value
const int sbusWAIT = 70; // frame timing delay in msecs
// Declare sbus control channels
int panChannel = 1;
int tiltChannel = 2;
int rollChannel = 4;
int speedChannel = 5;
int modeChannel = 6;
int triggerChannel = 7;
//data from pc
const byte numChars = 32; //maxlength of pcmessage
char pcmessage[numChars]; //message from pc serial
char oldmessage[numChars]; //previous message from pc serial
int Xsuunta = 1023; //x-axis directioin
int Ysuunta = 1023; //y-axis direction
int Mode = 1; //gimbal mode
int cnt = 0; //cycle counter
int msgi = 0; //number of messages received
boolean newData = false; //True if new data is being read
int dataNumber = 0;
//Arduino start setup
void setup() {
Serial.begin(9600);
Serial.setTimeout(100);
mySBUS.begin();
}
//Arduino main loop
void loop() {
// Run gimbal positioning to zero on first loop.
if (firstrun == true){
Serial.print("STARTING GIMBAL. LCD OFF\n");
Serial.print("go\n");
zeroNow();
firstrun = false;
}
readPC(); //commands in
//Serial.print("go\n"); //Inform through serial that ready for next message
}
void(* resetFunc) (void) = 0;//declare reset function at address 0
//Read serial string ex. "102310231\n" from pc.
void readPC(){
static byte ndx = 0;
char endMarker = '\n';
char rc;
if(Serial.available() > 0) {
rc = Serial.read();
needreset = true;
cnt = 0;
if (rc != endMarker) {
pcmessage[ndx] = rc;
ndx++;
if (ndx >= numChars) {
ndx = numChars - 1;
}
}
else {
pcmessage[ndx] = '\0'; //terminate the string
ndx = 0;
msgi++;
newData = true;
makenumbers();
Serial.print("go\n");
}
}
}
//Make integers out of received serial message. Bits:(1-4 X-axis, 5-8 Y-axis, 9 Mode)
void makenumbers() {
if (newData == true) {
if (pcmessage[0] == 'q'){ //if q is received
mySBUS.Servo(panChannel,1023);
mySBUS.Servo(tiltChannel,1023);
mySBUS.Update();
mySBUS.Send();
resetFunc(); //call reset
}
else if (pcmessage[0] == 'z'){
zeroNow(); //if z is received
}
else{
char xin[4];
char yin[4];
char modein[1];
xin[0] = pcmessage[0];
xin[1] = pcmessage[1];
xin[2] = pcmessage[2];
xin[3] = pcmessage[3];
yin[0] = pcmessage[4];
yin[1] = pcmessage[5];
yin[2] = pcmessage[6];
yin[3] = pcmessage[7];
modein[0] = pcmessage[8];
Xsuunta = atoi(xin); //combine xin characters to int
Ysuunta = atoi(yin); //combine yin characters to int
Mode = atoi(modein); //combine modein chars to int
}
if (Xsuunta < 1 || Xsuunta > 2047) Xsuunta = 1023;
if (Ysuunta < 1 || Ysuunta > 2047) Ysuunta = 1023;
newData = false;
sendsbus(); //Send to gimbal
}
}
void sendsbus(){
// Read data. Gimbal limits 0-2047. Middle = 1023
int sendValueX = Xsuunta;
int sendValueY = Ysuunta;
int sendMode = Mode;
// Set sbus pan and tilt
mySBUS.Servo(panChannel,sendValueX);
mySBUS.Servo(tiltChannel,sendValueY);
//mySBUS.Servo(speedChannel,0);
//mySBUS.Servo(modeChannel,sendMode);
//mySBUS.Servo(triggerChannel,0);
// Update SBUS object and send data
mySBUS.Update();
mySBUS.Send();
// Delay for SBUS
delay(sbusWAIT);
}
//TRYING TO GET THE GIMBAL TO RECENTER
void zeroNow(){
mySBUS.Servo(5,1);
mySBUS.Servo(6,1);
mySBUS.Servo(7,1);
mySBUS.Update();
mySBUS.Send();
delay(100);
mySBUS.Servo(5,2048);
mySBUS.Servo(6,2048);
mySBUS.Servo(7,2048);
mySBUS.Update();
mySBUS.Send();
delay(100);
mySBUS.Servo(5,1);
mySBUS.Servo(6,1);
mySBUS.Servo(7,1);
mySBUS.Update();
mySBUS.Send();
delay(100);
mySBUS.Servo(5,2048);
mySBUS.Servo(6,2048);
mySBUS.Servo(7,2048);
mySBUS.Update();
mySBUS.Send();
delay(100);
mySBUS.Servo(5,1);
mySBUS.Servo(6,1);
mySBUS.Servo(7,1);
mySBUS.Update();
mySBUS.Send();
cnt = 0;
msgi = 0;
needreset = false;
Xsuunta = 1023;
Ysuunta = 1023;
Serial.print("Recenter ok?\n");
}
