Example Code for Arduino-Sensor Reading and Motor Control

Hardware Preparation

• Flymaple x1
• Micro USB cable x1

Software Preparation

• maple-ide

Sample Code

#include <stdio.h>
#include "wirish.h"
#include "i2c.h"

extern uint16 MotorData[6];  // Motor control commands

extern volatile unsigned int chan1PPM;  // PPM control command
extern volatile unsigned int chan2PPM;
extern volatile unsigned int chan3PPM;
extern volatile unsigned int chan4PPM;


char str[512];

////////////////////////////////////////////////////////////////////////////////////
// Function:  void setup()
// Parameter: None
// Return:    None
// Description: Initialization function
///////////////////////////////////////////////////////////////////////////////////
void setup()
{
  motorInit();       // Initialize motors
  capturePPMInit();  // Initialize PPM input signal capture function for remote control receiver

  // Configure I2C port 1 (pins 5, 9) with no special option flags (second argument)
  i2c_master_enable(I2C1, 0);  // Configure I2C1 interface, master mode

  initAcc();            // Initialize accelerometer
  initGyro();           // Initialize gyroscope
  bmp085Calibration();  // Initialize barometric altimeter
  compassInit(false);   // Initialize compass
  //compassCalibrate(1);  // Calibrate compass once with gain of 1.3Ga
  //compassSetMode(0);  // Set to continuous measurement mode

}
////////////////////////////////////////////////////////////////////////////////////
// Function prototype:  void loop()
// Parameter:          None
// Return:             None
// Description:        Main function, program main loop
///////////////////////////////////////////////////////////////////////////////////
void loop()
{
  //***************ADXL345 accelerometer reading test example*****************************
  int16 acc[3];
  getAccelerometerData(acc);  // Read accelerometer data
  SerialUSB.print("Xacc=");
  SerialUSB.print(acc[0]);
  SerialUSB.print("    ");
  SerialUSB.print("Yacc=");
  SerialUSB.print(acc[1]);
  SerialUSB.print("    ");
  SerialUSB.print("Zacc=");
  SerialUSB.print(acc[2]);
  SerialUSB.print("    ");
  //delay(100);
  //***********************************************************/


  //***************ITG3205 gyroscope reading test example*****************************
    int16 gyro[4];
    getGyroscopeData(gyro);    // Read gyroscope data

    SerialUSB.print("Xg=");
    SerialUSB.print(gyro[0]);
    SerialUSB.print("    ");
    SerialUSB.print("Yg=");
    SerialUSB.print(gyro[1]);
    SerialUSB.print("    ");
    SerialUSB.print("Zg=");
    SerialUSB.print(gyro[2]);
    SerialUSB.print("    ");
    //SerialUSB.print("temperature=");
    //SerialUSB.print(gyro[3]);
    //SerialUSB.print("    ");
    //delay(100);
  //*********************************************************************/
  //****************************BMP085 barometer test example******************
  int16 temperature = 0;
  int32 pressure = 0;
  int32 centimeters = 0;
  temperature = bmp085GetTemperature(bmp085ReadUT());
  pressure = bmp085GetPressure(bmp085ReadUP());
  centimeters = bmp085GetAltitude(); // Get altitude in centimeters
  //SerialUSB.print("Temperature: ");
  SerialUSB.print(temperature, DEC);
  SerialUSB.print(" *0.1 deg C ");
  //SerialUSB.print("Pressure: ");
  SerialUSB.print(pressure, DEC);
  SerialUSB.print(" Pa ");
  SerialUSB.print("Altitude: ");
  SerialUSB.print(centimeters, DEC);
   SerialUSB.print(" cm ");
  //SerialUSB.println("    ");
  //delay(1000);
  //********************************************************************/
  //******************************HMC5883 compass test****************************
  float Heading;
  Heading = compassHeading();
  //SerialUSB.print("compass: ");
  SerialUSB.print(Heading, DEC);
  SerialUSB.println(" degree");
  delay(100);
 //***************************************************************************/
  /*************************Motor drive test***************************************************************
  MotorData[0] = 1;  // First set PWM to minimum to activate ESC (Electronic Speed Controller)
  MotorData[1] = 1;
  MotorData[2] = 1;
  MotorData[3] = 1;
  MotorData[4] = 1;
  MotorData[5] = 1;
  motorCcontrol();   // Calculate the difference of each motor control value, use this value for timer interrupt 
                     // to change the high-level duration of corresponding motor pulses
  delay(1000);
  MotorData[0] = 500;  // Control 6 ESCs to run motors at half speed
  MotorData[1] = 500;
  MotorData[2] = 500;
  MotorData[3] = 500;
  MotorData[4] = 500;
  MotorData[5] = 500;
  motorCcontrol();   // Calculate the difference of each motor control value, use this value for timer interrupt
                     // to change the high-level duration of corresponding motor pulses
  while(1);
  *********************************************************************************************************/
  /********************RC remote controller PPM capture test****************************************************
  SerialUSB.print("PPM Channel 1: ");
  SerialUSB.print(chan1PPM, DEC);
  SerialUSB.print("  ");
  SerialUSB.print("PPM Channel 2: ");
  SerialUSB.print(chan2PPM, DEC);
  SerialUSB.print("  ");
  SerialUSB.print("PPM Channel 3: ");
  SerialUSB.print(chan3PPM, DEC);
  SerialUSB.print("  ");
  SerialUSB.print("PPM Channel 4: ");
  SerialUSB.print(chan4PPM, DEC);
  SerialUSB.println("  ");
  delay(100);
  ***************************************************************************************************/
}

Result

This sample code is a piece of the whole library code for the motor functions, you need to download the library to run the whole sketch which contains this motors code.