Rev 2139 Rev 2141
Line 32... Line 32...
32 Serial.println("done" ); 32 Serial.println("done" );
33 } 33 }
34   34  
35 void loop() 35 void loop()
36 { 36 {
37 unsigned char _tx_buffer[]="aab\0"; 37 unsigned char _tx_buffer[]="mrc";
38 unsigned int Motor; 38 unsigned int Motor;
39 unsigned int Rudder; 39 unsigned int Rudder;
40 unsigned int Check; 40 unsigned char Check;
41 signed int ble; 41 signed int ble;
42 42
43 Motor = analogRead(A0); 43 Motor = analogRead(A0);
44 Rudder = analogRead(A1); 44 Rudder = analogRead(A1);
45   45  
46 Motor = MotorOffset - Motor; 46 Motor = MotorOffset - Motor;
47 Rudder = 512 - ((RudderOffset - Rudder)<<2); 47 Rudder = 512 - ((RudderOffset - Rudder)<<2);
48 Motor>>=4; 48 Motor>>=2;
49 Rudder>>=5; 49 Rudder>>=2;
-   50 if (Motor>200) Motor=0;
-   51 if (Rudder>250) Rudder=0;
50   52  
51 if (Motor>32) Motor=0; -  
52 if (Rudder>32) Rudder=0; -  
53 Check=Motor+Rudder; 53 Check=Motor+Rudder;
54 if (Check>32) Check-=32; -  
55   -  
56 Motor+=(Motor>9)?('a'-10):'0'; -  
57 Rudder+=(Rudder>9)?('a'-10):'0'; -  
58 Check+=(Check>9)?('a'-10):'0'; -  
59 54
60 _tx_buffer[0]=Motor; 55 _tx_buffer[0]=(unsigned char)Motor;
61 _tx_buffer[1]=Rudder; 56 _tx_buffer[1]=(unsigned char)Rudder;
62 _tx_buffer[2]=Check; 57 _tx_buffer[2]=Check;
63 58
64 rf02_txdata( _tx_buffer, sizeof(_tx_buffer)); 59 rf02_txdata( _tx_buffer, sizeof(_tx_buffer));
65 } 60 }
66   61