Control class for Chinsese 3 channel Infra-red Coaxial helicopters etc. More...

#include <IRheli.h>

Inheritance diagram for IRheli:

Collaboration diagram for IRheli:

Public Member Functions
	IRheli ()
	Constructor.
void	setChannel (uint8_t channel)
void	setCommand (uint8_t throttle, uint8_t rudder, uint8_t elevator, uint8_t ruddertrim)
void	sendCommand (uint8_t throttle, uint8_t rudder, uint8_t elevator, uint8_t ruddertrim)
void	poll ()
Public Member Functions inherited from IRrc
	IRrc ()
	Constructor.
void	sendMessage (const uint8_t *msg, uint8_t len)
void	sendPreamble ()
void	sendPostamble ()
	Send the postamble which consists by default of a single One bit sent with sendOne()
void	sendZero ()
void	sendOne ()
void	enableCarrier ()
void	disableCarrier ()
void	carrierOn (uint16_t time)
void	carrierOff (uint16_t time)

Protected Member Functions
void	sendCurrentCommand ()
	Sends the most recently set command.

Protected Attributes
uint8_t	_channel
	The currently selected channel, as set by setChannel(). Defaults to IR_HELI_CHANNEL_A.
Protected Attributes inherited from IRrc
uint16_t	_carrierFrequency
	IR Carrier frequence in Hertz.
uint16_t	_preamble
	Length of the preamble carrier on time in microseconds.
uint16_t	_preambleGap
	Length of the preamble gap off time in microseconds.
uint16_t	_zeroOnTime
	Time that the carrier is on at the start of a Zero bit in microseconds.
uint16_t	_zeroOffTime
	Time that the carrier is off at the end of a Zero bit in microseconds.
uint16_t	_oneOnTime
	Time that the carrier is on at the start of a One bit in microseconds.
uint16_t	_oneOffTime
	Time that the carrier is off at the end of a One bit in microseconds.

Detailed Description

Control class for Chinsese 3 channel Infra-red Coaxial helicopters etc.

Subclass of IRrc for typical 3 channel Chinese coaxial helicopters like:

MicroTwister (as relabelled in Australia)
Copter V-MAX hypersonic
etc.

Basic usage

instantiate an instance of IRheli
Call setCommand when new commands become available
Call poll as frequently as possible to retransmit the last command at the appropriate retransmission interval.

The poll() call retransmits the most recently set command at an appropriate interval. The appropriate interval depends on the channel in use, and the intervals for each channel have been chosen to minimise collissions between multiple IRheli transmnitters that might be active in the same room at the same time.

Protocol

Protocol as described in http://www.rcgroups.com/forums/showthread.php?t=1231421&page=2 as follows: Commands are preceded by the preamble and followed by the postamble

byte,bit explanation. Bits numbered from MSB (transmitted first) to LSB (transmitted last)

1,1 fix (always zero)
1,2...8 throttle
2,1...4 rudder
2,5...8 elevator
3,1 1=left rudder, 0=right rudder
3,2 1=nose up, 0=nose down
3,3 1=trim left, 0=trim right
3,4...8 trim
4,1...2 channel: 11=A, 10=B, 01=C
4,3...8 checksum = sum of first 3 octets + 0x0f

Constructor & Destructor Documentation

IRheli::IRheli ( )

Constructor.

Author:: Mike McCauley (mikem.nosp@m.@air.nosp@m.spayc.nosp@m.e.co.nosp@m.m)

References IRrc::_carrierFrequency, _channel, IRrc::_oneOffTime, IRrc::_oneOnTime, IRrc::_preamble, IRrc::_preambleGap, IRrc::_zeroOffTime, and IRrc::_zeroOnTime.

Member Function Documentation

void IRheli::poll ( )

If a command is due to be retransmitted, resends the last set command. Caution: If a command is to be sent, blocks for about 40ms until the command is sent.

References _channel, and sendCurrentCommand().

void IRheli::sendCommand	(	uint8_t	throttle,
		uint8_t	rudder,
		uint8_t	elevator,
		uint8_t	ruddertrim
	)

Sends immediately a command for the specified control setting. The same command will be sent thereafer when poll() is called and a retransmission is required. Caution: blocks until the command is sent.

Parameters:

[in]	throttle	Throttle setting. 0 is min, max is 255
[in]	rudder	Rudder setting. 0 = full left, 127 = neutral 255 = full right
[in]	elevator	Elevator setting. 0 = full nose down, 127 = neutral 255 = full nose up
[in]	ruddertrim	RudderTrim setting. 0 = full left, 127 = neutral 255 = full right

References sendCurrentCommand(), and setCommand().

void IRheli::setChannel ( uint8_t channel )

Specifies the channel the helico-tper listens to, A, B or C. Each helicoipter is hardwired For a specific channel, which is usually marked on the side of the helicopter.

Parameters:

[in] channel Channel to use, IR_HELI_CHANNEL_A, IR_HELI_CHANNEL_C, IR_HELI_CHANNEL_C

References _channel.

void IRheli::setCommand	(	uint8_t	throttle,
		uint8_t	rudder,
		uint8_t	elevator,
		uint8_t	ruddertrim
	)

Sets the comand to be sent next time poll() is called. Encodes the settings of throttle, rudder, elevator and ruddertrim and channel into the complete command, including checksum. The resulting command will be transmitted at appropriate intervals if poll() is called frequently enough.

Parameters:

[in]	throttle	Throttle setting. 0 is min, max is 255
[in]	rudder	Rudder setting. 0 = full left, 127 = neutral 255 = full right
[in]	elevator	Elevator setting. 0 = full nose down, 127 = neutral 255 = full nose up
[in]	ruddertrim	RudderTrim setting. 0 = full left, 127 = neutral 255 = full right

References _channel.

Referenced by sendCommand().

The documentation for this class was generated from the following files:

IRheli.h
IRheli.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation