| 41,32 → 41,33 |
|---|
| void loop() |
| { |
| int n; |
| unsigned char Motor, Rudder, Check, Check2; |
| unsigned int Motor, Rudder, Check, Check2; |
| |
| char* buf = (char*) _rx_buffer; |
| |
| rf01_rxdata(_rx_buffer, 3); |
| // Serial.print(buf); |
| // Serial.print(' '); |
| Serial.print(buf); |
| Serial.print(' '); |
| |
| Motor=_rx_buffer[0]; |
| // Serial.print(Motor, DEC); Serial.print(' '); |
| Motor-=(Motor>'9')?('a'-10):'0'; |
| Serial.print(Motor, DEC); Serial.print(' '); |
| Rudder=_rx_buffer[1]; |
| // Serial.print(Rudder, DEC); Serial.print(' '); |
| Rudder-=(Rudder>'9')?('a'-10):'0'; |
| Serial.print(Rudder, DEC); Serial.print(' '); |
| Check=_rx_buffer[2]; |
| // Serial.print(Check, DEC); Serial.print(' '); |
| Check-=(Check>'9')?('a'-10):'0'; |
| Serial.print(Check, DEC); Serial.print(' '); |
| |
| Check2=Motor+Rudder; |
| if (Check2>32) Check2-=32; |
| if (Check!=Check2) |
| { |
| // {Serial.print(Check2,DEC);} |
| } |
| {Serial.print(' Error');} |
| else |
| { |
| servo_motor.write(Motor+45); |
| servo_rudder.write(Rudder/2+45); |
| servo_motor.write(Motor); |
| servo_rudder.write(Rudder); |
| } |
| |
| delay(15); |
| // Serial.println(); |
| Serial.println(); |
| } |