How to use if statement

Projects Programming
1

Hello everyone,

I am trying to convert iBus signal to PWM using Arduino. I have got the code and it is working as intended. I am using 8 channels which are mapped to pin 2 to 9 on Arduino Nano. The values are mapped in between 1000-2000ms. I am using Flysky iA6B receiver its iBus pin is connected to RX on Nano.

What I want now is, when channel 5 is less than 1200 (ch_width_5 < 1200) the pulse of channel 8 should change between 1000-2000ms as per throttle input from TX else it should remain 1000ms.

What change do I need to make in the sketch?

Here's the code

#include <string.h>

#define IBUS_BUFFSIZE 32    // Max iBus packet size (2 byte header, 14 channels x 2 bytes, 2 byte checksum)
#define IBUS_MAXCHANNELS 8 // My TX only has 10 channels, no point in polling the rest
#include <Servo.h>
static uint8_t ibusIndex = 0;
static uint8_t ibus[IBUS_BUFFSIZE] = {0};
static uint16_t rcValue[IBUS_MAXCHANNELS];

static boolean rxFrameDone;

int ch_width_1;
int ch_width_2;
int ch_width_3;
int ch_width_4;
int ch_width_5;
int ch_width_6;
int ch_width_7;
int ch_width_8;

Servo ch1;
Servo ch2;
Servo ch3;
Servo ch4;
Servo ch5;
Servo ch6;
Servo ch7;
Servo ch8;

void setup() 
{
  Serial.begin(115200); 
  Serial.println("setup done!");
  ch1.attach(2);
  ch2.attach(3);
  ch3.attach(4);
  ch4.attach(5);
  ch5.attach(6);
  ch6.attach(7);
  ch7.attach(8);
  ch8.attach(9);
}

void loop() 
{
  readRx();
  
 }

void readRx()
{
  rxFrameDone = false;
  
  if (Serial.available())
  {
    uint8_t val = Serial.read();
    // Look for 0x2040 as start of packet
    if (ibusIndex == 0 && val != 0x20)
    {
      ibusIndex = 0;
      return;
    }
    if (ibusIndex == 1 && val != 0x40) 
    {
      ibusIndex = 0;
      return;
    }

    if (ibusIndex == IBUS_BUFFSIZE)
    {
      ibusIndex = 0;
      int high=3;
      int low=2;
      for(int i=0;i<IBUS_MAXCHANNELS; i++)
      {
        //left shift away the first 8 bits of the first byte and add the whole value of the previous one
        rcValue[i] = (ibus[high] << 8) + ibus[low];
        high += 2;
        low += 2;
      }
      ch_width_1 = map(rcValue[0], 1000, 2000, 1000, 2000);
      Serial.print(ch_width_1);
      Serial.print("     ");
      ch1.writeMicroseconds(ch_width_1);

      ch_width_6 = map(rcValue[0], 1000, 2000, 1000, 2000);
      ch6.writeMicroseconds(ch_width_6);
      
      ch_width_2 = map(rcValue[1], 1000, 2000, 1000, 2000);
      Serial.print(ch_width_2);
      Serial.print("     ");
      ch2.writeMicroseconds(ch_width_2);

      ch_width_7 = map(rcValue[1], 1000, 2000, 1000, 2000);
      ch7.writeMicroseconds(ch_width_7);
      
      ch_width_3 = map(rcValue[2], 1000, 2000, 1000, 2000);
      Serial.print(ch_width_3);
      Serial.print("     ");
      ch3.writeMicroseconds(ch_width_3);
      
      ch_width_4 = map(rcValue[3], 1000, 2000, 1000, 2000);
      Serial.print(ch_width_4);
      Serial.print("     ");
      ch4.writeMicroseconds(ch_width_4);
      
      ch_width_5 = map(rcValue[4], 1000, 2000, 1000, 2000);
      Serial.print(ch_width_5);
      Serial.print("      ");
      ch5.writeMicroseconds(ch_width_5);

      Serial.print(ch_width_6);
      Serial.print("      ");

      Serial.print(ch_width_7);
      Serial.println("       ");

      //if (ch_width_5 < 1200)
      //{ch8.writeMicroseconds(ch_width_8);
      //ch_width_8 = map(rcValue[2], 1000, 2000, 1000, 2000);
      //Serial.print(ch_width_8);
      //Serial.println("       ");
      //ch8.writeMicroseconds(ch_width_8);
      //}
                 
      rxFrameDone = true;
      return;
    }
    else
    {
      ibus[ibusIndex] = val;
      ibusIndex++;
    }
  }
}
2

Maybe you need to add something like

else ch8.writeMicroseconds(1000);

Steve

3

WARNING: "map(rcValue[0], 1000, 2000, 1000, 2000);" does nothing. If the value is outside the input range you will get a result that is outside the output range.

If you want to constrain the value, use "constrain(rcValue[0], 1000, 2000);"

This is what you want to do:

      if (ch_width_5 < 1200)
        ch_width_8 = constrain(rcValue[2], 1000, 2000);
      else
        ch_width_8 = 1000;

      ch8.writeMicroseconds(ch_width_8);
      Serial.print(ch_width_8);
      Serial.println("       ");

Another way to do the same thing is:

      ch_width_8 = 1000;
      if (ch_width_5 < 1200)
        ch_width_8 = constrain(rcValue[2], 1000, 2000);

      ch8.writeMicroseconds(ch_width_8);
      Serial.print(ch_width_8);
      Serial.println("       ");
4

Thank you so much. I did as you said. It is working now.