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Controller.cpp
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Controller.cpp
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#include "Controller.h"
volatile long throttleStartTime = 0;
volatile long throttleCurrentTime = 0;
volatile long throttlePulses = 0;
int throttle;
volatile long steeringStartTime = 0;
volatile long steeringCurrentTime = 0;
volatile long steeringPulses = 0;
int steering;
void throttleChange() {
throttleCurrentTime = micros();
if (throttleCurrentTime > throttleStartTime) {
throttlePulses = throttleCurrentTime - throttleStartTime;
throttleStartTime = throttleCurrentTime;
}
}
void steeringChange() {
steeringCurrentTime = micros();
if (steeringCurrentTime > steeringStartTime) {
steeringPulses = steeringCurrentTime - steeringStartTime;
steeringStartTime = steeringCurrentTime;
}
}
// https://www.youtube.com/watch?v=UZKxUFkwCc8&ab_channel=TheBoredRobot
// find PWM of receiver channels
void debugInputs() {
Serial.print("Throttle:");
Serial.print(throttle);
Serial.print(",");
Serial.print("Steering:");
Serial.println(steering);
}