Dear Arduino Gurus,
I'm usung an Arduino Meha 2560 with a reciever and some servos. I was getting a few random results from the reciever that was making my servos jitter, so I thought I would average the result using the average library and creating the array of the values necessary in a for loop.
Please have a gander.
#include <Average.h>
#include <Servo.h>
int ch1,ch2,ch3,ch4,ch5,Pitch,Yaw,PitchS,YawS,TiltS;
int N=3;
Servo YawServo;
Servo PitchServo;
Servo TiltServo;
int Y[3]={90,90,90};
int P[3]={90,90,90};
int T[3]={90,90,90};
void setup (){
PitchServo.attach(4);
YawServo.attach(5);
TiltServo.attach(6);
// int EngL = 2; //PWM control for engines
// int EngR = 3; //PWM control for engines
//channels and sensors
// pinMode(7, INPUT); //throttle
pinMode(8, INPUT);//yaw - ail
pinMode(9, INPUT);//pitch - elevator
pinMode(10, INPUT);//CruiseControl
pinMode(11, INPUT);
pinMode(12, INPUT);
pinMode(2, OUTPUT); //engines
pinMode(3, OUTPUT);//
Serial.begin(9600);
}
void loop() {
for(int i=0;i<3;i++)
{
ch2 = pulseIn(8, HIGH, 25000); //Ail - yaw
ch3 = pulseIn(9, HIGH, 25000);//Elev - pitch
ch4 = pulseIn(10, HIGH, 25000);//Rudd - Tilt
ch5 = pulseIn(11, HIGH, 25000);//cruise control
int Yaw =map(ch2,1000,2000,20,160);
int Pitch=map(ch3,1000,2000,20,160);
int Tilt=map(ch4,1000,2000,20,160);
Y[i]=Yaw;
P[i]=Pitch;
T[i]=Tilt;
YawS=mode(Y,3);
PitchS=mode(P,3);
TiltS=mode(T,3);
YawServo.write(YawS);
PitchServo.write(PitchS);
TiltServo.write(TiltS);
Serial.print("Channel 2: ");
Serial.println(ch2);
Serial.print(i);
Serial.print(" - Yaw: ");
Serial.println(Yaw);
}
Serial.print("yaw servo value: ");
Serial.println(YawS);
}
Because you would need a reciever and transmitter to view these readings, here's a sample:
Channel 2: 1402
0 - Yaw: 76
Channel 2: 1490
1 - Yaw: 88
Channel 2: 1406
2 - Yaw: 76
yaw servo value: 76
Channel 2: 1484
0 - Yaw: 87
Channel 2: 1468
1 - Yaw: 85
Channel 2: 1484
2 - Yaw: 87
yaw servo value: 87
Channel 2: 1406
0 - Yaw: 76
Channel 2: 1489
1 - Yaw: 88
Channel 2: 1430
2 - Yaw: 80
yaw servo value: 0
Channel 2: 1490
0 - Yaw: 88
Channel 2: 1422
1 - Yaw: 79
Channel 2: 1490
2 - Yaw: 88
yaw servo value: 88
Channel 2: 1429
0 - Yaw: 80
Channel 2: 1484
1 - Yaw: 87
Channel 2: 1436
2 - Yaw: 81
yaw servo value: 0
Channel 2: 1484
0 - Yaw: 87
Channel 2: 1429
1 - Yaw: 80
Channel 2: 1489
2 - Yaw: 88
yaw servo value: 0
Channel 2: 1430
0 - Yaw: 80
Channel 2: 1490
1 - Yaw: 88
Channel 2: 1422
2 - Yaw: 79
yaw servo value: 0
Channel 2: 1490
0 - Yaw: 88
Channel 2: 1453
1 - Yaw: 83
Channel 2: 1484
2 - Yaw: 87
yaw servo value: 0
Channel 2: 1406
0 - Yaw: 76
Channel 2: 1484
1 - Yaw: 87
Channel 2: 1459
2 - Yaw: 84
yaw servo value: 0
Channel 2: 1484
0 - Yaw: 87
Channel 2: 1453
1 - Yaw: 83
Channel 2: 1490
2 - Yaw: 88
yaw servo value: 0
Channel 2: 1423
0 - Yaw: 79
Channel 2: 1490
1 - Yaw: 88
Channel 2: 1447
2 - Yaw: 82
yaw servo value: 0
Channel 2: 1490
0 - Yaw: 88
Channel 2: 1468
1 - Yaw: 85
Channel 2: 1484
2 - Yaw: 87
yaw servo value: 0
Channel 2: 1408
0 - Yaw: 77
Channel 2: 1484
1 - Yaw: 87
Channel 2: 1468
2 - Yaw: 85
yaw servo value: 0
Channel 2: 1489
0 - Yaw: 88
Channel 2: 1401
1 - Yaw: 76
Channel 2: 1490
2 - Yaw: 88
yaw servo value: 88
Channel 2: 1463
0 - Yaw: 84
Channel 2: 1490
1 - Yaw: 88
Channel 2: 1468
2 - Yaw: 85
yaw servo value: 0
As you can see, it's generating a 0 sometimes for no reason. I cannot see a pattern in when it generates this mode value. Any assistance would be much appreciated.