Using SBUS to communicate with the Zumo 32U4 board. You will also need a signal inverter between SBUS receiver and Zumo board Build your own inverter.
When using PWM we are restricted to use more input pins with SBUS we only need one.
| Stick | Channel | Constant | Description |
|---|---|---|---|
| Throttle | 2 | THROTTLE_CHANNEL | Gas & break, Mode 2 Stick on the left side move UP or DOWN |
| Turning | 0 | TURNING_CHANNEL | Left & Right, Mode 2 stick on the right side move LEFT or RIGHT |
| Reverse | 8 | REVERSE_CHANNEL | Make zumo go in reverse (Switch B on my Radiolink) |
| Buzzer | 9 | BUZZER_CHANNEL | Make zumo play a melody on the buzzer |
On the Zumo 32U4 board you got three leds yellow, green and red.
| Led | Mode | Description |
|---|---|---|
| Flashing Red | FailSafe | No connection to transmitter |
| Yellow | LostFrame | SBUS lost a frame |
| Green | Ok | Stable color, We have connection to receiver |
| Flashing Green | Waiting | Not recieved a full sbus frame from receiver |
If you wish to see the exact measurements from SBUS channels in terminal you have to hook it up to USB and use putty.
This mode should only be used for debug purpose, you will miss packages from SBUS and that is made intentially because i wish to delay the output so SBUS channel measurements can be read from console.
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First you need to uncomment in main.cpp
//#define MY_DEBUG
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Upload the scetch
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Open putty with these settings
- Select Serial
- Select your COM port
- Select Speed: 115200
- Window->Uncheck 'Push erased text to scrollback'