APM2.6的LED小灯控制

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 board
void 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 forever
void 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);
  }
}