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shrkey
2016-10-17 17:18:38 +01:00
parent 7ba2caa48d
commit 56467516af
1 changed files with 5 additions and 3 deletions
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8
examples/PPM-decoder/PPM.cpp
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@@ -72,9 +72,11 @@ void ppmOnEdge(int gpio, int level, uint32_t tick)
// RC output
for (int i = 0; i < ppmChannelsNumber; i++) {
// Sanity checks for values
if( channels[i] > 2000 ) channels[i] = 2000;
if( channels[i] < 1000 ) channels[i] = 1000;
// Because we aren't going to get exact readings as this may not be running with a RT kernel
// We need to add some sanity checks for values
if( channels[i] > 2000 ) channels[i] = 2000; // Set top forward speed
if( channels[i] < 1000 ) channels[i] = 1000; // Set top reverse speed
if( channels[i] < 1550 && channels[i] > 1450 ) channels[i] = 1500; // Add a dead band around center
// Set motor speed
motors[i]->setMotorSpeed( channels[i] );
}