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Crius All in one pro for my RC car 8x8

Crius All in one pro for my RC car 8x8 - Multiwii car.

I using this controller to control my car Krohpit ATV 8x8 Gyro 1/10 RC with board transmission. In particular BTR-80.



The controller will operate two motors left and right side, controlled steering servo and suspension servo.
The controller has gyroscopes and accelerometers, with which you can solve the problem of stabilizing the body of the car, keeping the trajectory bends, traction control, ABS.
Perhaps you can solve the problem of smooth landing on the wheels when jumping on trampolines by changing momentum on the wheels.
Even this controller allows you to connect GPS and telemetry module to control the computer.
The suspension servo will work on the principle of X oktokopter.

09.11.2013
Beta version 1. The basis of the code has taken Arduino Multiwii 2.2. Increased the number of servo channels to 15. Now I use a soft-PWM signal generation method for the servo.The frequency of the PWM 50 Hz.

Did the four functions of the steering:
1. Board transmission control, if  zero speed - turn on the spot, wheel turned inwards.
2. Board transmission control, if  zero speed - turn on the spot, wheel stand by centering.
3. Steering the front wheels. Differential main motors.
4. Steering all the wheels, rear dependent on speed. Differential main motors.

And the four functions of elektrosuspension:
1. All servos of suspension disabled.
2. Static clearance and horizon the chassis.
3. Progressive tilting chassis in turn.
4. Gyrostabilization chassis.

This is the main part of the code is responsible for channel management in Output.ino
#if defined(Krohpit_ATV)
       
      static int16_t   servoMid[15];                        // Midpoint on servo
      static uint8_t   servoTravel[15] = SERVO_RATES;       // Rates in 0-100%
      static int8_t    servoReverse[15] = SERVO_DIRECTION ; // Inverted servos
      static int16_t   servoLimit[15][2]; // Holds servoLimit data
      static int16_t   servoOffset[15] = SERVO_OFFSET;
      static int16_t   Clearance = 0;
      
      #define SERVO_MIN 1000           // limit servo travel range must be inside [1000;2000]
      #define SERVO_MAX 2000           // limit servo travel range must be inside [1000;2000]
      for(i=0; i<15; i++){  //  Set rates with 0 - 100%.
      servoMid[i]     =MIDRC + servoOffset[i];
      servoLimit[i][0]=servoMid[i]-((servoMid[i]-SERVO_MIN)   *(servoTravel[i]*0.01));
      servoLimit[i][1]=servoMid[i]+((SERVO_MAX - servoMid[i]) *(servoTravel[i]*0.01));
      }
  
     
      if (f.RRSTR_MODE){   //RRSTR Steering all the wheels, rear dependent on speed. Differential main motors. 
      if (rcCommand[AUX1] >50) {
      servo[0]  = servoMid[0] + rcCommand[AUX1] - 0.1*rcCommand[YAW]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1] + 0.1*rcCommand[YAW]; //Motor R
        } else {
          if (rcCommand[AUX1] <-50) {
      servo[0]  = servoMid[0] + rcCommand[AUX1] + 0.1*rcCommand[YAW]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1] - 0.1*rcCommand[YAW]; //Motor R
        }
        else {
      servo[0]  = servoMid[0] + rcCommand[AUX1]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1]; //Motor R
        }
        }
      servo[2]  = servoMid[2] + rcCommand[YAW]*servoReverse[2]; //Steering FL
      servo[3]  = servoMid[3] + rcCommand[YAW]*servoReverse[3]; //Steering FR
      servo[4]  = servoMid[4] + int(float(rcCommand[YAW])*(1-abs(float(rcCommand[AUX1]))/500))*servoReverse[4]; //Steering RL
      servo[5]  = servoMid[5] + int(float(rcCommand[YAW])*(1-abs(float(rcCommand[AUX1]))/500))*servoReverse[5]; //Steering RR
           }
      else{
        if(f.YAWSTR_MODE){   //YAWSTR Board transmission control, if  zero speed - turn on the spot 
      if (rcCommand[AUX1] >5) {
      servo[0]  = servoMid[0] + rcCommand[AUX1] - rcCommand[YAW]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1] + rcCommand[YAW]; //Motor R
        } else {
          if (rcCommand[AUX1] <-5) {
      servo[0]  = servoMid[0] + rcCommand[AUX1] + rcCommand[YAW]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1] - rcCommand[YAW]; //Motor R
        }
        else {
      servo[0]  = servoMid[0] - rcCommand[YAW]; //Motor L
      servo[1]  = servoMid[1]+ rcCommand[YAW]; //Motor R
        }
        }
      if (rcData[AUX3]>1850)   {
      servo[2]  = 1950; //Steering FL
      servo[3]  = 1050; //Steering FR
      servo[4]  = 1950; //Steering RL
      servo[5]  = 1050; //Steering RR
      }

      else  {
      servo[2]  = servoMid[2]; //Steering FL
      servo[3]  = servoMid[3]; //Steering FR
      servo[4]  = servoMid[4]; //Steering RL
      servo[5]  = servoMid[5]; //Steering RR
       }
      }
      else{  //Steering the front wheels. Differential main motors. 
      if (rcCommand[AUX1] >50) {
      servo[0]  = servoMid[0] + rcCommand[AUX1] - 0.1*rcCommand[YAW]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1] + 0.1*rcCommand[YAW]; //Motor R
        } 
       else {
          if (rcCommand[AUX1] <-50) {
      servo[0]  = servoMid[0] + rcCommand[AUX1] + 0.1*rcCommand[YAW]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1] - 0.1*rcCommand[YAW]; //Motor R
        }
        else {
      servo[0]  = servoMid[0] + rcCommand[AUX1]; //Motor L
      servo[1]  = servoMid[1] + rcCommand[AUX1]; //Motor R
        }
        }
      servo[2]  = servoMid[2] + rcCommand[YAW]*servoReverse[2]; //Steering FL
      servo[3]  = servoMid[3] + rcCommand[YAW]*servoReverse[3]; //Steering FR
      servo[4]  = servoMid[4]; //Steering RL
      servo[5]  = servoMid[5]; //Steering RR
       }
      }
      
  if  (rcData[THROTTLE]<1060)     {
  pinMode(3,INPUT);     //6 Suspension     
  pinMode(5,INPUT);     //7 Suspension     
  pinMode(6,INPUT);     //8 Suspension                 
  pinMode(2,INPUT);     //9 Suspension     
  pinMode(7,INPUT);     //10 Suspension
  pinMode(8,INPUT);     //11 Suspension
  pinMode(9,INPUT);     //12 Suspension
  pinMode(10,INPUT);    //13 Suspension
  }
else  {  
  pinMode(3,OUTPUT);     //6 Suspension     
  pinMode(5,OUTPUT);     //7 Suspension     
  pinMode(6,OUTPUT);     //8 Suspension                 
  pinMode(2,OUTPUT);     //9 Suspension     
  pinMode(7,OUTPUT);     //10 Suspension
  pinMode(8,OUTPUT);     //11 Suspension
  pinMode(9,OUTPUT);     //12 Suspension
  pinMode(10,OUTPUT);    //13 Suspension
  
  Clearance = min(abs(rcData[THROTTLE]-MIDRC),500);
  if (rcData[THROTTLE]<MIDRC) Clearance = -Clearance;
      
      #define PIDMIX(X,Y,Z,U,V,W) Clearance + axisPID[ROLL]*X + axisPID[PITCH]*Y + axisPID[YAW]*Z + rcCommand[ROLL]*U + rcCommand[PITCH]*V + rcCommand[YAW]*W
      if(f.PASSTHRU_MODE){   //PASSTHRU Static clearance and horizon the chassis.
      servo[6] = servoMid[6] + PIDMIX(0,0,0,+1  ,-1/2,0); //MIDFRONT_L
      servo[7] = servoMid[7] + PIDMIX(0,0,0,-1,-1  ,0); //FRONT_R
      servo[8] = servoMid[8] + PIDMIX(0,0,0,-1  ,+1/2,0); //MIDREAR_R
      servo[9] = servoMid[9] + PIDMIX(0,0,0,+1,+1  ,0); //REAR_L
      servo[10] =servoMid[10] -  PIDMIX(0,0,0,-1,+1  ,0); //FRONT_L
      servo[11] =servoMid[11] -  PIDMIX(0,0,0,+1  ,+1/2,0); //MIDFRONT_R
      servo[12] =servoMid[12] -  PIDMIX(0,0,0,+1,-1  ,0); //REAR_R
      servo[13] =servoMid[13] -  PIDMIX(0,0,0,-1  ,-1/2,0); //MIDREAR_L
      }else{
        if(f.PROGRES_MODE){   //PROGRES Progressive tilting chassis in turn.
     servo[6] = servoMid[6] + PIDMIX(0,0,0,+1  ,-1/2,1); //MIDFRONT_L
      servo[7] = servoMid[7] + PIDMIX(0,0,0,-1,-1  ,-1); //FRONT_R
      servo[8] = servoMid[8] + PIDMIX(0,0,0,-1  ,+1/2,-1); //MIDREAR_R
      servo[9] = servoMid[9] + PIDMIX(0,0,0,+1,+1  ,1); //REAR_L
      servo[10] =servoMid[10] -  PIDMIX(0,0,0,-1,+1  ,-1); //FRONT_L
      servo[11] =servoMid[11] -  PIDMIX(0,0,0,+1  ,+1/2,1); //MIDFRONT_R
      servo[12] =servoMid[12] -  PIDMIX(0,0,0,+1,-1  ,1); //REAR_R
      servo[13] =servoMid[13] -  PIDMIX(0,0,0,-1  ,-1/2,-1); //MIDREAR_L
       }else{        //Gyrostabilization chassis.
      servo[6] = servoMid[6] + PIDMIX(+1  ,-1/2,0,0,0,0); //MIDFRONT_L
      servo[7] = servoMid[7] + PIDMIX(-1,-1  ,0,0,0,0); //FRONT_R
      servo[8] = servoMid[8] + PIDMIX(-1  ,+1/2,0,0,0,0); //MIDREAR_R
      servo[9] = servoMid[9] + PIDMIX(+1,+1  ,0,0,0,0); //REAR_L
      servo[10] =servoMid[10] -  PIDMIX(-1,+1  ,0,0,0,0); //FRONT_L
      servo[11] =servoMid[11] -  PIDMIX(+1  ,+1/2,0,0,0,0); //MIDFRONT_R
      servo[12] =servoMid[12] -  PIDMIX(+1,-1  ,0,0,0,0); //REAR_R
      servo[13] =servoMid[13] -  PIDMIX(-1  ,-1/2,0,0,0,0); //MIDREAR_L
       }
      }
}
      servo[14]=servoMid[14];
     
       for(i=0;i<15;i++){
        servo[i]  = map(servo[i], SERVO_MIN, SERVO_MAX,servoLimit[i][0],servoLimit[i][1]);
        servo[i]  = constrain( servo[i], SERVO_MIN, SERVO_MAX);
      }
          
      /*
      rcCommand[THROTTLE] - clearance 1000:2000
      Clearance - clearance -500:500
      rcCommand[ROLL] - tilt left / right -500:500
      rcCommand[PITCH] - tilt forward / backward -500:500
      rcCommand[YAW] - steering -500:500
      rcCommand[AUX1] - throttle / brake -500:500
      rcData[AUX1] - throttle / brake  1000:2000
      rcData[AUX2] - suspension mode 1000:2000
      rcData[AUX3] - steering mode 1000:2000
      rcData[AUX4] - gear shift 1000:2000
       */ 
 #endif //Krohpit_ATV
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