Renamed SERVO_PIN to ROTOR1_PIN. Added definitions for ROTOR2_PIN and…

… ROTOR3_PIN

esc-control.cpp

@@ -91,7 +91,7 @@ void set_servo_angle(float angle)
 
     duty = SERVO_MIN + (int)(angle * SERVO_ANGLE_TO_DUTY);
     if(duty > SERVO_MAX) duty = SERVO_MAX;
-    pwmWrite(SERVO_PIN, duty);
+    pwmWrite(ROTOR1_PIN, duty);
 }
 
 void cmd_servo_sweep(void) {

main.cpp

@@ -30,13 +30,16 @@ void setup() {
     // Setup timer4 for PWM
     timer4.setMode(TIMER_CH1, TIMER_PWM);
     timer4.setPrescaleFactor(21);
-    pinMode(SERVO_PIN, PWM);
+    pinMode(ROTOR1_PIN, PWM);
+    pinMode(ROTOR2_PIN, PWM);
+    pinMode(ROTOR3_PIN, PWM);
 
-    //ppm decode setup
+    // initialize usb
     SerialUSB.begin();
     while(!isConnected()); //wait till console attaches.
-    SerialUSB.println("Hello!");
+    SerialUSB.println("Welcome user!");
 
+    // ppm decode setup
     // init timer1 and dma
     init_timer_input_capture_dma();
 }

main.h

@@ -1 +1,19 @@
-#define SERVO_PIN 16
+/*
+ * Rotor definitions on tricopter
+ * Note that motor 3 is the tail rotor
+ *
+ *    ( 1 )         ( 2 )   Front
+ *        \        /
+ *         +------+
+ *            |
+ *            |
+ *          ( 3 )           Tail
+ *
+ */
+
+/* Timer 4, Ch 1 */
+#define ROTOR1_PIN 16
+/* Timer 4, Ch 2 */
+#define ROTOR2_PIN 15
+/* Timer 4, Ch 3 */
+#define ROTOR3_PIN 32