Receive signal from RC receiver and proxy to servo.

servo_loop.ino

#include <EnableInterrupt.h>
#include "./ServoTimer2.h"

const int CH_1_PIN = 9;
const int CH_1_PIN_OUT = 3;
const int DEADZONE = 20;

volatile int pwmValue;
volatile unsigned long prevTime = 0;

ServoTimer2 ch_1_out;

void setup() {
  Serial.begin(9600);
  enableInterrupt(CH_1_PIN, rising, RISING);
  ch_1_out.attach(CH_1_PIN_OUT);
}
 
void loop() {
  delay(33); // 30 FPS
  if( abs(pwmValue - 1500) < DEADZONE ){
    pwmValue = 1500;
  }

  // debug
  Serial.print((pwmValue - 1000) / 1000.0 * 255);
  Serial.print("  ");
  Serial.print(pwmValue);
  Serial.println();

  ch_1_out.write(pwmValue);
  pwmValue = 0;
}
 
void rising() {
  prevTime = micros();
  enableInterrupt(CH_1_PIN, falling, FALLING);
}
 
void falling() {
  pwmValue = micros()-prevTime;
  disableInterrupt(CH_1_PIN);
  enableInterrupt(CH_1_PIN, rising, RISING);
}