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function tab_initialize_servos() {
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ga_tracker.sendAppView('Servos');
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GUI.active_tab = 'servos';
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var model = $('div.tab-servos strong.model');
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var servos = [];
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// request current Servos Config
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send_message(MSP_codes.MSP_IDENT, MSP_codes.MSP_IDENT, false, function() {
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send_message(MSP_codes.MSP_SERVO_CONF, MSP_codes.MSP_SERVO_CONF, false, function() {
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// drop previous table
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$('div.tab-servos table.fields tr:not(:first)').remove();
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switch (CONFIG.multiType) {
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case 1: // TRI
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// looking ok so far
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model.html('TRI');
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process_directions('YAW', 5, 0);
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process_servos('Yaw Servo', '', 5, false);
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servos = [5];
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break;
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case 4: // BI
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// looking ok so far
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model.html('BI');
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process_directions('L YAW', 4, 1);
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process_directions('R YAW', 5, 1);
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process_directions('L NICK', 4, 0);
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process_directions('R NICK', 5, 0);
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process_servos('Left Servo', '', 4, false);
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process_servos('Right Servo', '', 5, false);
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servos = [4, 5];
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break;
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case 5: // Gimbal
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// Gimbal doesn't seem to be supported for now
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model.html('Doesn\'t support servos');
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/*
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model.html('Gimbal');
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process_servos('Pitch Servo', '', SERVO_CONFIG[0]);
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process_servos('Roll Servo', '', SERVO_CONFIG[1]);
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servos = [0, 1];
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*/
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break;
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case 8: // Flying Wing
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// looking ok so far
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model.html('Flying Wing');
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process_directions('L ROLL', 3, 1);
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process_directions('R ROLL', 4, 1);
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process_directions('L NICK', 3, 0);
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process_directions('R NICK', 4, 0);
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process_servos('Left Wing', '', 3, false);
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process_servos('Right Wing', '', 4, false);
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servos = [3, 4];
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break;
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case 14: // Airplane
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// not implemented yet (rates in %)
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model.html('Doesn\'t support servos');
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/*
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model.html('Airplane');
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// rate
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process_servos('Wing 1', '', SERVO_CONFIG[3]);
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process_servos('Wing 2', '', SERVO_CONFIG[4]);
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process_servos('Rudd', '', SERVO_CONFIG[5]);
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process_servos('Elev', '', SERVO_CONFIG[6]);
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servos = [2, 3, 4, 5, 6];
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*/
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break;
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case 20: // Dualcopter
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// looking ok so far
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model.html('Dualcopter');
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process_directions('PITCH', 4, 0);
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process_directions('ROLL', 5, 0);
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process_servos('Roll', '', 5, false);
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process_servos('Nick', '', 4, false);
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servos = [4, 5];
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break;
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case 21: // Singlecopter
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// looking ok so far
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model.html('Singlecopter');
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process_servos('Right', 'R YAW', 3, true);
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process_servos('Left', 'L YAW', 4, true);
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process_servos('Front', 'F YAW', 5, true);
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process_servos('Rear', 'YAW', 6, true);
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servos = [3, 4, 5, 6];
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break;
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default:
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model.html('Doesn\'t support servos');
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}
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});
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});
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// UI hooks
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$('a.update').click(function() {
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// update bitfields
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$('div.tab-servos table.directions tr:not(".main")').each(function() {
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var info = $('select', this).data('info');
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var val = parseInt($('select', this).val());
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// in this stage we need to know which bitfield and which bitposition needs to be flipped
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if (val) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, info.bitpos);
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else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, info.bitpos);
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});
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// update the rest
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$('div.tab-servos table.fields tr:not(".main")').each(function() {
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var info = $(this).data('info');
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if ($('.middle input', this).is(':disabled')) {
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var val = $('.channel input:checked', this).index();
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SERVO_CONFIG[info.obj].middle = parseInt(val);
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} else {
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SERVO_CONFIG[info.obj].middle = parseInt($('.middle input', this).val());
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}
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SERVO_CONFIG[info.obj].min = parseInt($('.min input', this).val());
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SERVO_CONFIG[info.obj].max = parseInt($('.max input', this).val());
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// update rate if direction fields exist
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if ($('.direction input', this).length) {
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if ($('.direction input:first', this).is(':checked')) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, 0);
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else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, 0);
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if ($('.direction input:last', this).is(':checked')) SERVO_CONFIG[info.obj].rate = bit_set(SERVO_CONFIG[info.obj].rate, 1);
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else SERVO_CONFIG[info.obj].rate = bit_clear(SERVO_CONFIG[info.obj].rate, 1);
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}
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});
|
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|
|
// send settings over to mcu
|
|
|
|
var buffer_out = [];
|
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|
|
var needle = 0;
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for (var i = 0; i < SERVO_CONFIG.length; i++) {
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].min);
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buffer_out[needle++] = highByte(SERVO_CONFIG[i].min);
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].max);
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buffer_out[needle++] = highByte(SERVO_CONFIG[i].max);
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].middle);
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buffer_out[needle++] = highByte(SERVO_CONFIG[i].middle);
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|
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buffer_out[needle++] = lowByte(SERVO_CONFIG[i].rate);
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}
|
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|
|
send_message(MSP_codes.MSP_SET_SERVO_CONF, buffer_out);
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|
|
// Save changes to EEPROM
|
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|
|
send_message(MSP_codes.MSP_EEPROM_WRITE, MSP_codes.MSP_EEPROM_WRITE);
|
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|
|
});
|
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|
|
}
|
|
|
|
|
|
|
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|
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function process_directions(name, obj, bitpos) {
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var val;
|
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|
|
$('div.tab-servos table.directions').append('\
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|
|
<tr>\
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|
|
<td class="name" style="text-align: center">' + name + '</td>\
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|
|
<td class="direction" style="text-align: right">\
|
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|
|
<select name="direction">\
|
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|
|
<option value="0">Normal</option>\
|
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|
|
<option value="1">Reverse</option>\
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|
|
</select>\
|
|
|
|
</td>\
|
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|
|
</tr>\
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|
');
|
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|
|
if (bit_check(SERVO_CONFIG[obj].rate, bitpos)) val = 1;
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|
else val = 0;
|
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|
|
$('div.tab-servos table.directions tr:last select').val(val);
|
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|
|
$('div.tab-servos table.directions tr:last select').data('info', {'obj': obj, 'bitpos': bitpos});
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|
|
}
|
|
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|
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|
|
|
function process_servos(name, alternate, obj, directions) {
|
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|
|
$('div.tab-servos table.fields').append('\
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|
|
<tr> \
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|
|
<td style="text-align: center">' + name + '</td>\
|
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|
|
<td class="middle"><input type="number" min="1000" max="2000" value="' + SERVO_CONFIG[obj].middle +'" /></td>\
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|
|
<td class="min"><input type="number" min="1000" max="2000" value="' + SERVO_CONFIG[obj].min +'" /></td>\
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|
|
<td class="max"><input type="number" min="1000" max="2000" value="' + SERVO_CONFIG[obj].max +'" /></td>\
|
|
|
|
<td class="channel">\
|
|
|
|
<input type="checkbox"/>\
|
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|
|
<input type="checkbox"/>\
|
|
|
|
<input type="checkbox"/>\
|
|
|
|
<input type="checkbox"/>\
|
|
|
|
<input type="checkbox"/>\
|
|
|
|
<input type="checkbox"/>\
|
|
|
|
<input type="checkbox"/>\
|
|
|
|
<input type="checkbox"/>\
|
|
|
|
</td>\
|
|
|
|
<td class="direction">\
|
|
|
|
<input class="first" type="checkbox"/><span class="name">' + name + '</span>\
|
|
|
|
<input class="second" type="checkbox"/><span class="alternate">' + alternate + '</span>\
|
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|
|
</td>\
|
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|
|
</tr> \
|
|
|
|
');
|
|
|
|
|
|
|
|
if (SERVO_CONFIG[obj].middle <= 7) {
|
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|
|
$('div.tab-servos table.fields tr:last td.middle input').prop('disabled', true);
|
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|
|
$('div.tab-servos table.fields tr:last td.channel').find('input').eq(SERVO_CONFIG[obj].middle).prop('checked', true);
|
|
|
|
}
|
|
|
|
|
|
|
|
if (directions == true) {
|
|
|
|
$('div.tab-servos table.fields tr:last td.direction input:first').prop('checked', bit_check(SERVO_CONFIG[obj].rate, 0));
|
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|
|
$('div.tab-servos table.fields tr:last td.direction input:last').prop('checked', bit_check(SERVO_CONFIG[obj].rate, 1));
|
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|
|
} else if (directions == 2) {
|
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|
|
// reserved for rate
|
|
|
|
} else {
|
|
|
|
$('div.tab-servos table.fields tr:last td.direction').html('');
|
|
|
|
}
|
|
|
|
|
|
|
|
$('div.tab-servos table.fields tr:last').data('info', {'obj': obj});
|
|
|
|
|
|
|
|
// UI hooks
|
|
|
|
$('div.tab-servos table.fields tr:last td.channel').find('input').click(function() {
|
|
|
|
if($(this).is(':checked')) {
|
|
|
|
$(this).parent().parent().find('td.middle input').prop('disabled', true);
|
|
|
|
$(this).parent().find('input').not($(this)).prop('checked', false);
|
|
|
|
} else {
|
|
|
|
$(this).parent().parent().find('td.middle input').prop('disabled', false).val(1500);
|
|
|
|
}
|
|
|
|
});
|
|
|
|
}
|