UPDATE: Pins had to be changed to the correct interrupt pins. Its working just fine other than when I turn the RC controller off it doesn't clear the value of the controller to resume the program. Any ideas?
// -----LIBRARIES
#include <Servo.h>
#define CH1_int 0 // Channel 1 interrupt #
#define CH1_pin 2 // Respective channel Hardware interrupt pin number
#define CH2_int 1 // Channel 2 interrupt #
#define CH2_pin 3 // Respective channel Hardware interrupt pin number
#define valid_pulse_limit 2000 // [uS] Valid output high pulse time limit for RC controller
#define max_high_time 2300 // [uS] Maximum expected high time
#define min_high_time 500 // [uS] Minimum expected high time
//
int b = 3.333; //This is distance in feet forward
int a = 2;
// a = Speed
// 1 = Fast forward
// 2 = medium forward
// 3 = slow forward **time fix
// 4 == slow back **time fix
// 5 == medium back
// 6 == fast back
int power_mapping [] = { 0, 160, 135, 110, 70, 50, 30 }; //Speed Settings
int power_mappingReversed [] = { 0, 30, 50, 70, 110, 135, 160 }; //Speed Settings
float timer_mapping [] = { 0, 131, 160, 1245, 1131, 150, 137 }; //Speed in Feet Per Second
float timer_mappingReversed [] = { 0, 137, 150, 1131, 1245, 160, 131 }; //Speed in Feet Per Second
//160(0546) 135(1139) 110(4150) 70(3770) 50(1298) 30(0690)
int channel1 = 2; // defines the channels that are connected
int channel2 = 3;// to pins 9 and 10 of arduino respectively
int analogOutputF ; //Used later to
int analogOutputB ; // store values
int Channel1 ; // Used later to
int Channel2 ; // store values
int switchingServo = 0;
volatile unsigned long CH1_t=0, CH1_delta=0, CH2_t=0, CH2_delta=0 ;
float CH1,CH2;
unsigned long t=0;
//------- VARIABLES (will change)
Servo ST1;
Servo ST2;
int servoInt = 0; // will be changed to negative value for movement in the other direction
unsigned long currentMillis = 0; // stores the value of millis() in each iteration of loop()
unsigned long previousServoMillis = 0; // the time when the servo was last moved
//========
void CH1_int_ISR()
{
if ((micros()-CH1_t) < valid_pulse_limit){
CH1_delta = micros()-CH1_t;
}
CH1_t = micros();
}
void CH2_int_ISR()
{
if ((micros()-CH2_t) < valid_pulse_limit){
CH2_delta = micros()-CH2_t;
}
CH2_t = micros();
}
// Call able function
//========
void setup() {
pinMode (channel1, INPUT);// initialises the channels
pinMode (channel2, INPUT);// as inputs
Serial.begin(115200);
ST1.attach(8);
ST2.attach(7);
Serial.print("Channel 1 connected to pin number....\t");
Serial.println(CH1_pin);
Serial.print("Channel 2 connected to pin number....\t");
Serial.println(CH2_pin);
pinMode(CH1_pin, INPUT);
pinMode(CH2_pin, INPUT);
attachInterrupt(CH1_int, CH1_int_ISR, CHANGE);
attachInterrupt(CH2_int, CH2_int_ISR, CHANGE);
}
//=======
void loop() {
currentMillis = millis();
Serial.println(CH1_delta);
// Serial.println(CH2_delta);
if (CH1_delta == 0 && CH2_delta == 0){
if (currentMillis - previousServoMillis >= servoInt) {
previousServoMillis = currentMillis;
if (switchingServo == 0){
switchingServo = 1;
ST1.write(power_mapping [a]);
servoInt = (b*timer_mapping [a]);
Serial.println(servoInt);
}else if (switchingServo == 1){
switchingServo = 2;
ST1.write(90);
servoInt = (1000);
Serial.println(servoInt);
}else if (switchingServo == 2){
switchingServo = 3;
ST1.write(power_mappingReversed [a]);
servoInt = (b*timer_mappingReversed [a]);
Serial.println(servoInt);
}else if (switchingServo == 3){
switchingServo = 0;
ST1.write(90);
servoInt = (1000);
Serial.println(servoInt);
}}
}else{
previousServoMillis = 0;
servoInt = 0;
switchingServo = 0;
//BACK MOTOR
analogOutputF = map(CH2_delta, 990, 1900, 0, 180);
ST1.write(analogOutputF);
Serial.println (CH2_delta);
Serial.println(CH1_delta);
//STEERING
analogOutputB = map(CH1_delta, 1260, 1660, 0, 180);
if (CH1_delta > 1500 && CH1_delta < 1700){
ST2.write(180);
//Serial.println (180);
}else if (CH1_delta < 1400 && CH1_delta < 1300){
ST2.write(0);
//Serial.println (0);
}else if (CH1_delta > 1400 && CH1_delta < 1500){
ST2.write(90);
//Serial.println (110);
}
}
}
//=====END
