mixer.ino

/** @brief RC Mixer
 *  @detailed Takes 2 RC signals and mixes them to produce tank style steering. The results are scaled to ensure no stick travel is wasted.
 *  
 *  Algorithm copied from here: http://electronics.stackexchange.com/questions/19669/algorithm-for-mixing-2-axis-analog-input-to-control-a-differential-motor-drive
 *  
 *  @param inThrottle The throttle channel RC value, constrained to -255 and +255
 *  @param inYaw The steering channel RC value, constrained to -255 and +255
 *  @param outLeft The left motor output, constrained to -255 and +255
 *  @param outRight The right motor output, constrained to -255 and +255
 */
void mixer(int inThrottle, int inYaw, int &outLeft, int &outRight) {
  
  int left = inThrottle + inYaw;
  int right = inThrottle - inYaw;
  float scaleLeft = abs(left/255.0);
  float scaleRight = abs(right/255.0);
  float scaleMax = max(scaleLeft, scaleRight);
  scaleMax = max(1, scaleMax);
  outLeft = int(constrain(left/scaleMax, -255, 255));
  outRight = int(constrain(right/scaleMax, -255, 255));

  return;
}