initial commit

piconaut-caaar.ino

@@ -0,0 +1,41 @@
+const int numPins = 3;
+const int pwmPins[] = {A1, A2, A3};
+const float minDutyCycle[numPins] = {5.98, 6.03, 6.03};
+const float maxDutyCycle[numPins] = {12.08, 12.02, 11.94};
+const float deadzone = 0.1;
+
+void setup() {
+  Serial.begin(9600);
+  for (int i = 0; i < numPins; i++) {
+    pinMode(pwmPins[i], INPUT);
+  }
+}
+
+float mapFloat(float x, float in_min, float in_max, float out_min, float out_max) {
+  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+void loop() {
+  for (int i = 0; i < numPins; i++) {
+    unsigned long highDuration = pulseIn(pwmPins[i], HIGH);
+    unsigned long lowDuration = pulseIn(pwmPins[i], LOW);
+    unsigned long period = highDuration + lowDuration;
+    float dutyCycle = (float)highDuration / (float)period * 100.0;
+
+    // Map the duty cycle value to the range of -1.0 to 1.0
+    float mappedDutyCycle = mapFloat(dutyCycle, minDutyCycle[i], maxDutyCycle[i], -1.0, 1.0);
+
+    // Apply deadzone
+    if (mappedDutyCycle > -deadzone && mappedDutyCycle < deadzone) {
+      mappedDutyCycle = 0.0;
+    }
+
+    // Print the mapped duty cycle in a format suitable for the Serial Plotter
+    Serial.print(mappedDutyCycle);
+    if (i < numPins - 1) {
+      Serial.print(",");
+    } else {
+      Serial.println();
+    }
+  }
+}