Building Robots With Lego Mindstorms

482 Chapter 24 • Simulating Flight

The important thing to remember is that the arm of the lever at the top is

double the length of that at the bottom, meaning that in respect to the bank

sensor, you need double the ticks from the rotation to cover the same angle.This

leads to the formula:

pitch=(SENSOR_PITCH*15)/32;

We chose for the throttle a scale of ten values from 0 to 9.To make the rotary

control a bit less sensitive, we counted an increment in throttle every four ticks of

the sensors, and added some code to ensure its value stays in the right range.

temp_thr=throttle+(SENSOR_THROTTLE-old_sensor_throttle)/4;

old_sensor_throttle=SENSOR_THROTTLE;