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Simplified mod of kr0k0f4nt's Bayangtoys X21 Gimbal Control script for Arduino Nano
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| /* | |
| * Simplified version of kr0k0f4nt's script by nlac | |
| * - no STD ange, just MIN and MAX | |
| * - no pin mode selection, only one, new mode: pressing DOWN (video) button slowly rotates the camera downwards until MAX, pressing it again stops the movement. Pressing UP does the same just upwards until MIN angle. | |
| * | |
| * Original header comment: | |
| * | |
| * Bayangtoys X21 BGC Gimbal Control for Ardunio | |
| * by kr0k0f4nt (2017) - Version 1.1 | |
| * | |
| * Version 1.1 (2017-09-20) | |
| * - Added SPEED to SETTINGS to Control MODE 1 | |
| * - Pressing the Video Button will now always set next Movement on Photo Button to upwards | |
| * | |
| * Version 1.0 (2017-09-19) | |
| * - Initial Release | |
| * | |
| * PPM Processing based on Code by Sijjim (https://forum.arduino.cc/index.php?topic=182681.0) | |
| * Inspired by Muhammad Imam Zulkarnaen (https://www.youtube.com/watch?v=pYitT60Frjc) | |
| */ | |
| // *********************** SETTINGS **************************** | |
| /* | |
| * Angle can be 0-2000, but only Values between 1500-2000 make sense | |
| * 1000 = Camera looks straight up to the drone body, lower values make it look backwards | |
| * 1500 = Neutal Setting looking straight forward | |
| * 2000 = Cameras looks straight down | |
| */ | |
| #define MAX 1990 // Max Angle (default 2000, looking down) | |
| #define MIN 1590 // Min Angle (default 1500, looking straight forward) | |
| #define SPEED 1 // Speed of movement, 1 is slowest to 10 fastest | |
| /* | |
| * Interrputs are not available on all Pins, for the Nano only on 2 & 3 | |
| */ | |
| #define PPM_PIN 2 // PIN with X21 Signal | |
| /* | |
| * This only needs to be a Pin that is capable of PWM, for the Nano this is 3,5-6,9-11 | |
| */ | |
| #define GIMBAL_PIN 6 // PIN with Gimbal Signal | |
| /* | |
| * Setting Up Pin Pair for MODE Control | |
| */ | |
| #define MODE_PIN_OUT 7 // MODE Pin Output | |
| #define MODE_PIN_IN 8 // MODE Pin Input | |
| /* | |
| * This will set the number of channels in the PPM signal | |
| */ | |
| #define CHANNELS 3 // X21 works with 3 Channels | |
| #define CHANNEL_SIGNAL 3 // X21 Signal is on Channel 3 | |
| /* | |
| * These are the Signal average Values for the Channel 3, which varies on the Video/Photo Buttons being pressed | |
| */ | |
| #define SIGNAL_BASE 500 | |
| #define SIGNAL_PHOTO 1100 | |
| #define SIGNAL_VIDEO 1600 | |
| // ****************** GLOBAL VARIABLES ****************** | |
| #include <Servo.h> | |
| Servo Gimbal; | |
| // State Variables for handling Signal toggles | |
| int LastSignal = SIGNAL_BASE; | |
| int GimbalState = MIN; | |
| // Variables for MODE 1 Control by Photo Button | |
| int GimbalSteps = 0; | |
| // Variables for PPM Processing | |
| volatile int Values[CHANNELS + 1] = {0}; | |
| // ***************************************************** | |
| void setup() { | |
| // Serial Communcication Output | |
| Serial.begin(115200); | |
| // Settings up MODE pins | |
| pinMode(PPM_PIN, INPUT); | |
| pinMode(MODE_PIN_OUT, OUTPUT); | |
| pinMode(MODE_PIN_IN, INPUT_PULLUP); | |
| digitalWrite(MODE_PIN_OUT, LOW); | |
| // Setting up Gimbal | |
| Gimbal.attach(GIMBAL_PIN); | |
| Gimbal.writeMicroseconds(GimbalState); | |
| } | |
| void loop(){ | |
| // Wait for Sync on Signal | |
| while(pulseIn(PPM_PIN, HIGH) < 2500){} | |
| // Processing PPM Signal | |
| for (int Channel = 1; Channel <= CHANNELS; Channel++) { | |
| Values[Channel] = pulseIn(PPM_PIN, HIGH); | |
| } | |
| // Determinig the Signal for easier handling | |
| int Signal = Values[CHANNEL_SIGNAL]; | |
| if (Signal <= 1800 && Signal >= 1500) { | |
| Signal = SIGNAL_VIDEO; | |
| } else if (Signal <= 1200 && Signal >= 900) { | |
| Signal = SIGNAL_PHOTO; | |
| } else { | |
| Signal = SIGNAL_BASE; | |
| } | |
| // Only do something whenever Signal changes | |
| if (LastSignal != Signal) { | |
| /* | |
| * Figuring out which Key was actually pressed ... | |
| * This is a bit tricky as there are only 3 Signal States and the SIGNAL_BASE is shared by both Buttons | |
| * To solve this we need to maintain the State of the VideoMode as well as the LastSignal. | |
| */ | |
| int KeyPressed; | |
| switch(Signal) { | |
| case SIGNAL_VIDEO: | |
| KeyPressed = SIGNAL_VIDEO; | |
| break; | |
| case SIGNAL_PHOTO: | |
| KeyPressed = SIGNAL_PHOTO; | |
| break; | |
| case SIGNAL_BASE: break; | |
| } | |
| // "MODE 3": | |
| if (KeyPressed == SIGNAL_VIDEO) { | |
| GimbalSteps = SPEED; | |
| } else if (KeyPressed == SIGNAL_PHOTO) { | |
| GimbalSteps = -SPEED; | |
| } else { | |
| GimbalSteps = 0; | |
| } | |
| // Overwrite Last Signal | |
| LastSignal = Signal; | |
| } //if | |
| // Write GimbalState but maintain MIN/MAX Angles and stop movment if exceeded | |
| if (GimbalState + GimbalSteps > MAX) { | |
| GimbalState = MAX; | |
| GimbalSteps = 0; | |
| } else if (GimbalState + GimbalSteps < MIN) { | |
| GimbalState = MIN; | |
| GimbalSteps = 0; | |
| } else { | |
| Gimbal.writeMicroseconds(GimbalState += GimbalSteps); | |
| } | |
| } |
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