Rev 2140 Rev 2141
Line 39... Line 39...
39 } 39 }
40   40  
41 void loop() 41 void loop()
42 { 42 {
43 int n; 43 int n;
44 unsigned int Motor, Rudder, Check, Check2; 44 unsigned char Motor, Rudder, Check, Check2;
45 45
46 char* buf = (char*) _rx_buffer; 46 char* buf = (char*) _rx_buffer;
47   47  
48 rf01_rxdata(_rx_buffer, 3); 48 rf01_rxdata(_rx_buffer, 3);
49 Serial.print(buf); 49 // Serial.print(buf);
50 Serial.print(' '); 50 // Serial.print(' ');
51 51
52 Motor=_rx_buffer[0]; 52 Motor=_rx_buffer[0];
53 Motor-=(Motor>'9')?('a'-10):'0'; -  
54 Serial.print(Motor, DEC); Serial.print(' '); 53 // Serial.print(Motor, DEC); Serial.print(' ');
55 Rudder=_rx_buffer[1]; 54 Rudder=_rx_buffer[1];
56 Rudder-=(Rudder>'9')?('a'-10):'0'; -  
57 Serial.print(Rudder, DEC); Serial.print(' '); 55 // Serial.print(Rudder, DEC); Serial.print(' ');
58 Check=_rx_buffer[2]; 56 Check=_rx_buffer[2];
59 Check-=(Check>'9')?('a'-10):'0'; -  
60 Serial.print(Check, DEC); Serial.print(' '); 57 // Serial.print(Check, DEC); Serial.print(' ');
61 58
62 Check2=Motor+Rudder; 59 Check2=Motor+Rudder;
63 if (Check2>32) Check2-=32; -  
64 if (Check!=Check2) 60 if (Check!=Check2)
-   61 {
65 {Serial.print(' Error');} 62 // {Serial.print(Check2,DEC);}
-   63 }
66 else 64 else
67 { 65 {
68 servo_motor.write(Motor); 66 servo_motor.write(Motor+45);
69 servo_rudder.write(Rudder); 67 servo_rudder.write(Rudder/2+45);
70 } 68 }
71   69  
-   70 delay(15);
72 Serial.println(); 71 // Serial.println();
73 } 72 }