Code: Select all
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"
int ElevChpin = 4;
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *LeftMotor = AFMS.getMotor(3);
unsigned long ThrotlefromRC;
long MotorSpeed;
void setup()
{
pinMode(ElevChpin, INPUT);
AFMS.begin();
}
void loop()
{
ThrotlefromRC = pulseIn(ElevChpin, HIGH, 25000);
if (1498 <= ThrotlefromRC && ThrotlefromRC <= 1510)
{
LeftMotor->run(RELEASE);
LeftMotor->setSpeed(0);
}
if (ThrotlefromRC > 1510)
{
MotorSpeed = ((ThrotlefromRC*0.13) - 195)*4.8;
LeftMotor->run(FORWARD);
LeftMotor->setSpeed(MotorSpeed);
}
if (ThrotlefromRC < 1498)
{
MotorSpeed = ((ThrotlefromRC*0.13) - 195)*-4.8;
LeftMotor->run(BACKWARD);
LeftMotor->setSpeed(MotorSpeed);
}
}