#include<Servo.h>;
#define AIL1 3 //AIL fuyi
#define ELE2 9 //ELE shengjiang
#define THR3 10 //THR youmen
#define RUD4 11 //RUD fangxiang
#define LED 13
unsigned long INAIL;
unsigned long INELE;
unsigned long INTHR;
unsigned long INRUD;
int OUTAIL;
int OUTELE;
int OUTTHR;
int OUTRUD;
Servo AIL;
Servo ELE;
Servo THR;
Servo RUD;
void setup()
{
pinMode(AIL1,0);
pinMode(ELE2,0);
pinMode(THR3,0);
pinMode(RUD4,0);
pinMode(LED,1);
AIL.attach(4);
ELE.attach(5);
THR.attach(6);
RUD.attach(7);
Serial.begin(9600);
}
void loop()
{
digitalWrite(LED,1);
INAIL = pulseIn(AIL1, 1);
INELE = pulseIn(ELE2, 1);
INTHR = pulseIn(THR3, 1);
INRUD = pulseIn(RUD4, 1);
OUTAIL = map(INAIL,1010,2007,47,144);
OUTELE = map(INELE,1010,2007,47,144);
OUTTHR = map(INTHR,1010,2007,47,144);
OUTRUD = map(INRUD,1010,2007,47,144);
AIL.write(OUTAIL);
ELE.write(OUTELE);
THR.write(OUTTHR);
RUD.write(OUTRUD);
int dianya = analogRead(A0);
float wendu = dianya * (5.0 / 1023.0*100);
Serial.print("AIL=");
Serial.print(INAIL);
Serial.print(" ELE=");
Serial.print(INELE);
Serial.print(" THR=");
Serial.print(INTHR);
Serial.print(" RUD=");
Serial.print(INRUD);
Serial.print(" wendu=");
Serial.println(wendu);
digitalWrite(LED,0);
delay(5);
} |