APM2.6的LED小灯控制

来源：互联网发布：淘宝商品上架时间编辑：程序博客网时间：2024/05/05 07:57

本文章为入门级APM编程控制教程，使用arduino编程，编写最简单的流水灯实验。

编写环境arduino的安装以及APM飞控源码等内容就不在做介绍了，直接说如何进行APM的小灯控制。

打开后可以看到两个函数，分别是void setup()和void loop()其中setup()仅执行一次，loop()为永久循环，因此我们在setup中添加初始化引脚的按钮。

在APM飞控中，有三个小灯，分别为PA3、PA4、PA5，对应的arduino引脚为5、2、3，分别为蓝，黄和红三个小灯(可自行查看原理图)因此在setup()中初始化该三个引脚为输出，代码如下：(以下代码写到setup()函数中)

    pinMode( 5, OUTPUT );     pinMode( 2, OUTPUT );     pinMode( 3, OUTPUT );

接下来就是让这三个等循环点亮，很简单，就是延时拉低某个引脚就可以了：(以下代码写到loop()中)

      digitalWrite( 5, LOW);      digitalWrite( 2, HIGH );      digitalWrite( 3, HIGH );      delay(500);      digitalWrite( 5, HIGH );      digitalWrite( 2, LOW);      digitalWrite( 3, HIGH );      delay(500);      digitalWrite( 5, HIGH );      digitalWrite( 2, HIGH );      digitalWrite( 3, LOW);      delay(500);

连接USB线和APM飞控，在arduino上选择相应的串口，点击上传就可以将程序上传到APM上了，完成后就可以看到三个小灯在轮流闪烁，这样APM做出来的流水灯就完成了。

附上自己写的使用APM的电调信号输出口输出的LED流水灯程序。

/*  Blink  Turns on an LED on for one second, then off for one second, repeatedly.  Most Arduinos have an on-board LED you can control. On the Uno and  Leonardo, it is attached to digital pin 13. If you're unsure what  pin the on-board LED is connected to on your Arduino model, check  the documentation at http://arduino.cc  This example code is in the public domain.  modified 8 May 2014  by Scott Fitzgerald */unsigned char pinMap[11] = {5,2,3,6,7,8,11,12,25,26,27};// the setup function runs once when you press reset or power the boardvoid setup() {  // initialize digital pin 13 as an output.\  unsigned char i;  //   for( i = 0; i < 11; i++ )    pinMode( pinMap[i], OUTPUT );   }// the loop function runs over and over again forevervoid loop() {  unsigned char i,j;  for( i = 0; i < 8; i++ )  {    for( j = 0; j < 8; j++ )      digitalWrite( pinMap[j], HIGH );    digitalWrite( pinMap[7-i], LOW );    if( i == 0 )    {      digitalWrite( pinMap[8], HIGH );      digitalWrite( pinMap[9], HIGH );      digitalWrite( pinMap[10], HIGH );    }    if( i == 3 )    {      digitalWrite( pinMap[8], LOW );      digitalWrite( pinMap[9], LOW );      digitalWrite( pinMap[10], LOW );     }    delay(125);  }  for( i = 0; i < 8; i++ )  {    for( j = 0; j < 8; j++ )      digitalWrite( pinMap[j], HIGH );    digitalWrite( pinMap[i], LOW );    if( i == 0 )    {      digitalWrite( pinMap[8], HIGH );      digitalWrite( pinMap[9], HIGH );      digitalWrite( pinMap[10], HIGH );    }    if( i == 3 )    {      digitalWrite( pinMap[8], LOW );      digitalWrite( pinMap[9], LOW );      digitalWrite( pinMap[10], LOW );     }    delay(125);  }}

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