added thruster control code

Author: JPGC04

pio_workspace/lib/power_custom/ThrusterControl.cpp

@@ -0,0 +1,31 @@
+#include "ThrusterControl.h"
+
+// Initialize thrusters
+Servo thrusters[8];
+
+// Default microseconds for each thruster (centered at 1500)
+int16_t microseconds[8] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
+
+// Off command to stop all thrusters (1500 microseconds)
+const int16_t offCommand[8] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
+
+// Initializes all thrusters by attaching them to the correct pins
+void initThrusters() {
+    thrusters[0].attach(THRUSTER_1);
+    thrusters[1].attach(THRUSTER_2);
+    thrusters[2].attach(THRUSTER_3);
+    thrusters[3].attach(THRUSTER_4);
+    thrusters[4].attach(THRUSTER_5);
+    thrusters[5].attach(THRUSTER_6);
+    thrusters[6].attach(THRUSTER_7);
+    thrusters[7].attach(THRUSTER_8);
+
+    updateThrusters(offCommand);  // Initialize all thrusters to the off state
+}
+
+// Updates all thrusters' PWM signal based on the provided array
+void updateThrusters(const int16_t microseconds[8]) {
+    for (int i = 0; i < 8; i++) {
+        thrusters[i].writeMicroseconds(microseconds[i]);
+    }
+}

pio_workspace/lib/power_custom/ThrusterControl.h

@@ -0,0 +1,30 @@
+#ifndef THRUSTER_CONTROL_H
+#define THRUSTER_CONTROL_H
+
+#include <Servo.h>
+
+#define THRUSTER_1 2
+#define THRUSTER_2 3
+#define THRUSTER_3 4
+#define THRUSTER_4 5
+#define THRUSTER_5 6
+#define THRUSTER_6 7
+#define THRUSTER_7 8
+#define THRUSTER_8 9
+
+// Create an array of 8 thrusters
+extern Servo thrusters[8];
+
+// Define PWM signal (in microseconds) for each thruster
+extern int16_t microseconds[8];
+
+// Define the off command for all thrusters
+extern const int16_t offCommand[8];
+
+// Initializes the thrusters
+void initThrusters();
+
+// Updates the thrusters' PWM signal
+void updateThrusters(int16_t microseconds[8]);
+
+#endif