Page 204 - Build Your Own Quadcopter_ Power Up Your Designs with the Parallax Elev-8

Chapter 7: Ser v o Motors and Extending the Ser v o Control System 183

PUB init
dira[RIGHT_FRONT_PIN] := 1
dira[LEFT_FRONT_PIN] := 1
dira[RIGHT_REAR_PIN] := 1
dira[LEFT_REAR_PIN] := 1

PUB start(num) ‘num is the parameter passed from
mode
case num
0 :
cognew(mode0,@stack) ‘start a fresh cog for
flashing the LED strips
mode0
1 :
cognew(mode1,@stack)
mode1
2 :
cognew(mode2,@stack)
mode2

PUB mode0 ‘Flashes just the LED strips
on the forward booms
outa[RIGHT_FRONT_PIN] := 1
outa[LEFT_FRONT_PIN] := 1
outa[RIGHT_REAR_PIN] := 0
outa[LEFT_REAR_PIN] := 0
waitcnt(WAIT_CNT + cnt)
outa[RIGHT_FRONT_PIN]~ ‘Toggle the pin
outa[LEFT_FRONT_PIN]~

PUB mode1 ‘Flashes all the LED strips
outa[RIGHT_FRONT_PIN] := 1
outa[LEFT_FRONT_PIN] := 1
outa[RIGHT_REAR_PIN] := 1
outa[LEFT_REAR_PIN] := 1
waitcnt(WAIT_CNT + cnt)
outa[RIGHT_FRONT_PIN]~
outa[LEFT_FRONT_PIN]~
outa[RIGHT_REAR_PIN]~
outa[LEFT_REAR_PIN]~

PUB mode2 ‘No LED strips are flashed
outa[RIGHT_FRONT_PIN] := 0
outa[LEFT_FRONT_PIN] := 0
outa[RIGHT_REAR_PIN] := 0
outa[LEFT_REAR_PIN] := 0