power board inital code with interrupts

Author: JPGC04

Power Board/thrusters.ino

@@ -0,0 +1,114 @@
+#include <Servo.h>
+
+// boolean for interrupts
+volatile bool interruptFlag = false;
+
+// defines all MCU pins
+#define SYSTEM_KILLED 0
+#define THURSTERS_KILLED 1
+
+#define SRG_P_PIN 	2
+#define SRG_S_PIN	3
+#define SWY_BW_PIN 	4
+#define SWY_ST_PIN 	5
+#define HVE_BW_P_PIN 	6
+#define HVE_BW_S_PIN 	7
+#define HVE_ST_S_PIN 	8
+#define HVE_ST_P_PIN 	9
+
+#define MCU_KS 10
+#define WATER_DETECTED 12
+
+#define TEENSY_LED 13
+
+#define TC_1 14
+#define TC_2 15
+#define TC_3 16
+#define TC_4 17
+#define TC_5 18
+#define TC_6 19
+#define TC_7 20
+#define TC_8 21
+
+#define VBAT1_SENSE 22
+#define VBAT2_SENSE 23
+
+// defines 8 thursters for initialization in an array
+#define SRG_P 	0
+#define SRG_S	1
+#define SWY_BW 	2
+#define SWY_ST 	3
+#define HVE_BW_P 	4
+#define HVE_BW_S 	5
+#define HVE_ST_S 	6
+#define HVE_ST_P 	7
+
+// creates array of 8 thrusters
+Servo thrusters[8];
+
+// signals to push to thrusters
+uint16_t microseconds[] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500}; 
+const uint16_t offCommand[] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500}; 
+
+// updates thrusters' pwm signals from array
+void updateThrusters(const uint16_t microseconds[8]) {
+	thrusters[SRG_P].writeMicroseconds(microseconds[SRG_P]);
+	thrusters[SRG_S].writeMicroseconds(microseconds[SRG_S]);
+	thrusters[SWY_BW].writeMicroseconds(microseconds[SWY_BW]);
+	thrusters[SWY_ST].writeMicroseconds(microseconds[SWY_ST]);
+	thrusters[HVE_BW_P].writeMicroseconds(microseconds[HVE_BW_P]);
+	thrusters[HVE_BW_S].writeMicroseconds(microseconds[HVE_BW_S]);
+	thrusters[HVE_ST_P].writeMicroseconds(microseconds[HVE_ST_P]);
+	thrusters[HVE_ST_S].writeMicroseconds(microseconds[HVE_ST_S]);
+}
+
+// attaches and arms thrusters
+void initThrusters() {
+	interrupts();
+	interruptFlag = false;
+
+	thrusters[SRG_P].attach(SRG_P_PIN);
+	thrusters[SRG_S].attach(SRG_S_PIN);
+	thrusters[SWY_BW].attach(SWY_BW_PIN);
+	thrusters[SWY_ST].attach(SWY_ST_PIN);
+	thrusters[HVE_BW_P].attach(HVE_BW_P_PIN);
+	thrusters[HVE_BW_S].attach(HVE_BW_S_PIN);
+	thrusters[HVE_ST_S].attach(HVE_ST_S_PIN);
+	thrusters[HVE_ST_P].attach(HVE_ST_P_PIN);
+
+	updateThrusters(offCommand);
+	delay(7000);
+}
+
+void killSystem() {
+	digitalWrite(MCU_KS, HIGH);
+	delay(100);
+}
+
+void powerSystem() {
+	digitalWrite(MCU_KS, LOW);
+	delay(100);
+}
+
+void setup() {
+	pinMode(SYSTEM_KILLED, INPUT_PULLUP);
+	pinMode(THURSTERS_KILLED, INPUT_PULLUP);
+	pinMode(WATER_DETECTED, INPUT_PULLUP);
+
+	pinMode(MCU_KS, OUTPUT);
+
+	attachInterrupt(digitalPinToInterrupt(SYSTEM_KILLED), initThrusters, RISING);
+	attachInterrupt(digitalPinToInterrupt(THURSTERS_KILLED), initThrusters, RISING);
+	attachInterrupt(digitalPinToInterrupt(WATER_DETECTED), killSystem, RISING);
+	attachInterrupt(digitalPinToInterrupt(WATER_DETECTED), powerSystem, FALLING);
+
+	initThrusters();
+}
+
+void loop() {
+	if (interruptFlag) {
+		interruptFlag = false;
+	}
+
+	updateThrusters(microseconds);
+}