[Smsteves]

Boni.

Ho copiato lo sketch sbagliato..

/*
 * Created by Stefano Prevedini
 * Date 05/05/2020 V0.1
 * Project: Arduino Four Steering Wheels Control 
*/
 

#define Tolerance 5 //-- if poor quality servo vibrates try 5
#define Max_gain 500 //-- gain steering reduction by throttle if reverse add -
//#define Slowlimit 1600 //-- slow forward without endpoint correction
#include <Servo.h>
Servo myservo;


unsigned int Rxpulse;
unsigned int Gaspulse ;
unsigned int Gascorse ;
unsigned int Gain;
unsigned int Neutral;// -- minimum forward signal
signed int NewPos, OldPos;
int  Stato;
int Stato_Led = 0;
int Ledpin = 13;
int Led = 0;
boolean Cmd_Led = false;
unsigned int Maxspeed; // -- maximum forward signal
unsigned int Antsx ; // -- in front servo signal sx
unsigned int Antdx; // -- in front servo signal dx
unsigned int Postsx; // out rear servo sx endpoint if inverted with postdx it reverse
unsigned int Postdx; //-- out rear servo dx endpoint if inverted with postsx it reverse
unsigned int Center = 0; //-- add or subtract xx value to center steering
unsigned int Slowlimit = 200;
unsigned int Sterzo = 300;
unsigned int Scala_GAS = 1;
unsigned int Scala_RX = 1;
double Percentuale;

void setup() {
  pinMode(7, INPUT); //-- throttle signal in pin
  pinMode(8, INPUT); //-- front servo signal in pin
  digitalWrite(7, HIGH);
  digitalWrite(8, HIGH);
  pinMode(Cmd_Led, OUTPUT);
  myservo.attach(10); //-- rear servo signal out pin
  Stato = 0;
}

void loop() {
  if (millis() < 50) {
    Stato == 10;
    Led = 10;
    noInterrupts();
    Neutral = pulseIn(7, HIGH);
    Center = pulseIn(8, HIGH);
    interrupts();
    Postsx = Center - Sterzo;
    Postdx = Center + Sterzo;
    Antsx = Center - Sterzo;
    Antdx = Center + Sterzo;
    Maxspeed = Neutral + Gascorse;
  }
  if ((millis() > 2000) && (millis() < 3100)) {
    delay(50);
    Stato == 10;
    Maxspeed=Neutral+100;
    Slowlimit=Neutral+50;
  }
  
  if (Stato == 0) {
    noInterrupts();
    Rxpulse = pulseIn(8, HIGH);
    Gaspulse = pulseIn(7, HIGH);
    interrupts();
    if (Rxpulse > (Sterzo + Center))  {
      Sterzo = Rxpulse - Center;
      Gain = Sterzo;
    }
    if (Rxpulse < (Center - Sterzo))  {
      Sterzo = Center - Rxpulse;
      Gain = Sterzo;
    }
    Rxpulse = Rxpulse - Antsx;
    Rxpulse = Rxpulse / Scala_RX;
    Rxpulse = Rxpulse * Scala_RX ;
    Rxpulse = Rxpulse + Antsx;
    if (Gaspulse > Maxspeed)  {
      Maxspeed = Gaspulse;
      Slowlimit = ((Maxspeed - Neutral) / 3) + Neutral;
    }
    Gaspulse = Gaspulse - Neutral;
    Gaspulse = Gaspulse / Scala_GAS;
    Gaspulse = Gaspulse * Scala_GAS;
    Gaspulse = Gaspulse + Neutral;
  }

  if (Stato == 1) {
    if (Gaspulse > Slowlimit) {
      if (Rxpulse > Center) 
        Percentuale = 0;
        Percentuale = ((Gaspulse - Slowlimit) * 100) / (Maxspeed - Slowlimit);
        if (Rxpulse > Center) {
          NewPos = Center + (((Rxpulse - Center) * (100 - Percentuale) / 100));
                Led = 3;
        }
        if (Rxpulse < Center) {
          NewPos = Center - (((Center - Rxpulse) * (100 - Percentuale) / 100));
                Led = 4;
        }
      
      Led = 1;
    }
    else {
      NewPos = Rxpulse;
      Led = 2;
    }
  }                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   

  if (Stato == 2) {
    if (abs(NewPos - OldPos) > Tolerance) {
      myservo.write(NewPos );
      OldPos = NewPos;
    }

  }
  ++Stato;
  ++Stato_Led;
  if (Stato > 2) {
    Stato = 0;
  }
  delay(1);
  if (Led == 1) {
     if (Stato_Led > 60) {
      Cmd_Led = !Cmd_Led;
      Stato_Led = 0;
    }
    digitalWrite(Ledpin, Cmd_Led);
  }
  if (Led == 2) {
    if (Stato_Led > 30) {
      Cmd_Led = !Cmd_Led;
      Stato_Led = 0;
    }
  }



  digitalWrite(Ledpin, Cmd_Led);

}

Pace e Bene.. E RC

Ps. slow limit e' 1/3 della corsa tra neutro e max. Centratura servo in base al segnale a riposo della radio e sterzo in base al max valore letto dalla radio.