Help loading a wide load onto a narrow trailer?

I'm looking for some ideas on how to get a small 1940's AC Combine (farm machinery) onto a trailer without having to dismantle it.  It weighs about 3000# so not too heavy but the 2 wheels are about 104" apart (wide) so they won't fir onto a normal deckover style trailer (96" wide).  Once I can get it on the trailer, I plan to set it down on blocks and chain it down.  The problem - how to get it ONTO the trailer. Seems I have 2 options - 1) rig up something to make the ramps and trailer wider (just for loading) OR 2) rig up something with wheels that will bolt to the axle BUT be narrow enough to fit onto the trailer ..... sort of like a dolly.  Option 2 presents a bit of a problem in making sure the "dolly wheels" clear the combine's axle since they'll be underneath it. Thanks for your advice/ideas.

Question by Bunchgrass 4 years ago  |  last reply 4 years ago


Every thing is okay except line follow command ,,,when i say line follow it only goes forward but does not follow line my code is String voice; int LS=10; int RS=9; int LED=13; char getstr; int in1=3; int in2=4; int in3=5; int in4=6; int ENA=2; int ENB=7; long duration, distance; int trigPin=A0; int echoPin=A1; int buzzer=8; void forward() {   digitalWrite(ENA,HIGH);   digitalWrite(ENB,HIGH);   digitalWrite(in1,HIGH);   digitalWrite(in2,LOW);   digitalWrite(in3,LOW);   digitalWrite(in4,HIGH);   } void back() {   digitalWrite(ENA,HIGH);   digitalWrite(ENB,HIGH);   digitalWrite(in1,LOW);   digitalWrite(in2,HIGH);   digitalWrite(in3,HIGH);   digitalWrite(in4,LOW);   } void left() {   digitalWrite(ENA,HIGH);   digitalWrite(ENB,HIGH);   digitalWrite(in1,LOW);   digitalWrite(in2,HIGH);   digitalWrite(in3,LOW);   digitalWrite(in4,HIGH);   } void right() {   digitalWrite(ENA,HIGH);   digitalWrite(ENB,HIGH);   digitalWrite(in1,HIGH);   digitalWrite(in2,LOW);   digitalWrite(in3,HIGH);   digitalWrite(in4,LOW);   } void stop() {   digitalWrite(ENA,LOW);   digitalWrite(ENB,LOW);   } void on() {   digitalWrite(LED,HIGH); } void off() {   digitalWrite(LED,LOW); } void line(){ if(digitalRead(LS) && digitalRead(RS))     // Stop   { stop();   }     if(!(digitalRead(LS)) && digitalRead(RS))     // right   { right();   }     if(digitalRead(LS) && !(digitalRead(RS)))     // Turn left   { left();   }     if(!(digitalRead(LS)) && !(digitalRead(RS)))     // Forward   {     forward();   } } void setup() {   pinMode(LED, OUTPUT);   Serial.begin(9600); pinMode(LS, INPUT);   pinMode(RS, INPUT);   pinMode(in1,OUTPUT);   pinMode(in2,OUTPUT); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT);   pinMode(in3,OUTPUT);   pinMode(in4,OUTPUT);   pinMode(ENA,OUTPUT);   pinMode(ENB,OUTPUT); pinMode(buzzer, OUTPUT); } void loop() {   while (Serial.available()){ //Check if there is an available byte to read      delay(10); //Delay added to make thing stable     char c =; //Conduct a serial read     if (c == '#') {break;} //Exit the loop when the # is detected after the word     voice += c; //Shorthand for voice = voice + c   }   if (voice.length() > 0){     if(voice == "*go ahead"){       forward();       }     else if(voice == "*go back"){       back();       }     else if(voice == "*turn right") {       right();     }     else if(voice == "*turn left") {       left();     }     else if(voice == "*light on") {       on();     }     else if(voice == "*light off") {       off();     }         else if(voice == "*stop") {       stop();     } else if(voice == "*line follow") { line();           }       voice=""; //Reset the variable after initiating   } }

Topic by BibekP4 1 year ago  |  last reply 1 year ago

K'nex Combination Lock

I got bored and decided to show off my combination lock here at Ibles. It's not done yet, but here it is:;=SMOV0022.flv

Topic by Mepain 10 years ago  |  last reply 4 years ago

Combining PC with.....A FAN!

This idea just popped into my brain last nite.Why not use strong automobile fans to cool the PC?Just mount it on the panel(geek points for duct tape)and off u go!Most engine fans run on 12VDC now and a pc has that,then SPLICE THE TWO TOGETHER!Advice and flaming will be appreciated

Topic by Derin 10 years ago  |  last reply 10 years ago

Can I combine 2 computers into one? Answered

I have 2 computers: 256RAM                       256RAM 40Gb hard disk          20Gb hard disk 1.3GHz processor     1.3GHz processor Can I somehow connect the 2 of them into a better one? I know I can take the RAM and the hard disk from one and attach them to the other computer,but I want to connect the 2 processors together . Can I do that?

Question by theVader75 8 years ago  |  last reply 8 years ago

I have 2 accounts and I want to combine them. How?!?!?!

I have 2 accounts for some reason.  I did not create 2 intentionally, but somehow I did.   Is there some way to combine them?!?! Carol Oswald

Topic by kylara70 7 years ago  |  last reply 7 years ago

Combine two usb solar panels for higher wattage output

So, just thinking about this.  I have an anker 14w foldable solar panel.  I like it, but it seems to not quite have the wattage output that I would prefer.  What if I were to make cable that would join these two usb output sources into one.  Same voltage of course, just higher wattage potential. Again, just an idea.  Thoughts?

Topic by n5yzv 3 years ago  |  last reply 3 years ago

All in One Keyboard ? Answered

Is it possible to combine all these features in one unit.  i)    Keyboard,  ii)    Touchpad/Trackball,  iii)    FingerPrint Reader,  iv)    Microphone,  v)    Speaker,  vi)    Card Reader,  vii)    IR,BT(optional).

Question by FAisalShafi 7 years ago  |  last reply 7 years ago

Bass (guitar) signal spilt + combine

Hello I have been thinking about a project that I would like to try. The idea is that I would like to be able to take the signal from my bass guitar and split it in two (configurable how much signal in each, but the sum should be 100%), apply an effect to one of the lines and then combining the two signals again having only applied the effect to some of the signal while carrying the clean signal through. This way I could apply e.g. distortion to only 20% of the signal. I thought that I could control the volume simply by putting an resistor in the signal line, but this gave quite some noise. This is my first attempt at building electronics for instruments, but have some experience with electronics in general. Hope you can help me with a couple of questions: 1) Shouldn't you be able to lower the signal simply by resistors? Should you use any specific resistors for audio? 2) Is it possible to recombine two audio signals and can you just put the wires together? Kind Regards Brian

Topic by FatMooseHenry 6 years ago  |  last reply 5 years ago

Does any one know how to make a Combine Elite costume?

I ma having trobles on where to start, i would like to build a OWE, or Combine Elite costume + A2 Pulse Rifle. if anyone knows how to do this can you please help me? Thanks all that do.

Question by Jakesthebest 9 years ago  |  last reply 8 years ago

is there a way to melt rubber and steel together?

I've been thinking about this for a long time. What I am wanting to accomplish is finding a way to combine steel and rubber together to form a new substance where the two are no longer able to be distinguished from each other.

Question by Jakcavar 7 years ago  |  last reply 5 months ago

Combine 2 powerbanks for mobile

Hello, I have 2 old powerbanks that didn't have enough cappacity. So I want to combine the 2. But both have 5v 800ma output. So if I am afraid that the voltage or the ampere will be to high. How can I combine the 2 without damaging my phone? Sorry for my bad english. Greeting, Thijs

Topic by Thijsd4 3 years ago  |  last reply 3 years ago

flash drive and radio combined?

Does anyone know how to make an mp3 from portable radio and flash drive? thank you

Topic by redon12 11 years ago  |  last reply 11 years ago

Combining (Rewiring) Earphones Together

Hello! I'm having trouble rewiring my Ipod earphones. Currently I have two sets of nonworking earphones. One is an Ipod 3rd generation earphones. Pretty standard, ones you can find anywhere. The earbuds are completely busted on this one, and thus it does not work. The second one is Iphone earphones, and thus has a little mic component along the right earphone cord. This one, the bottom jack is completely busted. What I want to do this cut and combine the bottom 1 inch (including the jack) of my ipod earphone with my Iphone earphones. I understand this will render the mic capability useless. The ipod earphones have 4 wires inside, yellow, red, green, and red/green. The iphone ones have 6 wires. green, blue, yellow, red, red/yellow, and another yellow. How do I match these up to work? Thank you so much in advance!

Topic by lazda 10 years ago

Can you frankenstein (combine) old computers together to make a faster and cheeper way to play games, if possible how? Answered

If someone has an instructible, is planning to post one, or has a link to a website on the subject please help my loptop is just getting old and i have two cpu's laying around could i put them together to make a faster one.

Question by zootsuitman 8 years ago  |  last reply 8 years ago

how to combile outouts ? Answered

Hello, i made a LittleGem and a LittleGemMK2 .But i only have one speaker, is there a way to make speaker play 2 signal from 2 input at a time ?? Thanks ! sorry for my bad English.

Question by login721 7 years ago  |  last reply 7 years ago

Connecting/combining left and right audio channels together? Answered

Hi, I have something that can only take one channel but I am wondering if I can just connect the red and blue wires together in a audio cable so it will combine these both left and right channels into a single mono source (from the amplifiers point of view). Will this cause any problems with the audio source (phone) having both channels connected together like this? Will it damage the phone or anything like that? The main reason for doing this is the source (the phone) is stereo and some songs will have parts that are only present on one channel, which means that if it is not on the channel that is connected to my homemade lm386 based amplifier you wont here that part. Thanks.

Question by Alex1M6 6 years ago  |  last reply 9 months ago


When i get more than 10 gmod users il unleash gmod how to instructables like how to make a plane without hoverballs, how to make a podracer, how to make a thaad defence truck,how to make a combine helicopter fly, how to make a airboat fly, how to turn your buggy into a lawnmower with npcs, how to download addons,how to change settings, i will release these in groups of 3 to prevent short pointless instructables and mabye a collaberation so all us gmodders can share ideas... UPDATE: i have now started posting my gmod instructables! enjoy!

Topic by bedbugg2 11 years ago  |  last reply 5 years ago

what chemical do you get when you mix bleach and paint thinner? Answered

Last night, I was mixing various unhealthy toxins (don't ask why), and when I added bleach to a vial of paint thinner, I suddenly ended up with a vial of brown lumpy things. what are those brown lumpy things? and, more important, are they dangerous?

Question by necropolian 9 years ago  |  last reply 5 years ago

The ultimate combination of woodworking, music, and ingenuity

This was sent to me and I thought it was well worth sharing. An impressive project.  http://

Topic by Vyger 7 years ago  |  last reply 6 years ago

Combining AC and DC on the one output?

I have a variable 0-12v DC output which has a maximum output of 1 amp. I have a fixed 16v AC output which has a maximum output of 1 amp. I am looking at how to combine the two so as to power a model with the variable DC output and also power lighting on the AC through a capacitor to filter the DC out. Also, I would rather it was nearer 6v AC at the output. Would this just be a matter of a simple step-down transformer before they are combined? Essentially, I am looking to replicate the functionality of this product for less than £42.95. This is too expensive especially when I need two of them.

Question by gkilgour 6 years ago  |  last reply 6 years ago

Cant combine my two acccounts

It seems that along the line somwhere i have been given a second login for instructables. this one im on now i can download PDFs and it seems i have full pro membership. the one i can login with my facebook however, i have not got pro membership. how do i combine the two? the facebook login one is called Joypad570

Topic by joypad 7 years ago  |  last reply 7 years ago

Need some good color combinations

Got some new wheels for my bike that were dirt cheap..Only problem is I need some good colors that will make the bike look amazing. The rims are yellow and the spokes are black. Help me out. Be creative.

Question by lieks2bhugged 9 years ago  |  last reply 9 years ago

Panasonic Palmcorder and Webcamera combined into one?

Hello, I'm slightly new to this site but I love the heck out of it. I was wondering if it would be possible to remove the lens out of an old (from like 1995) panasonic palmcorder and put it into a webcam. I'm into brickfilming and I'm getting tired of my webcam's crappy foucus.Here is a picture of the lens from the palmcorder and all it's connections. [img][/img][img][/img][img][/img][img][/img]

Topic by -ddrblank- 11 years ago  |  last reply 11 years ago

New Sport!! Combine Golf with Archery!

I have an idea for a new sport. If you combine golf with archery, you'd get Golfery! The concept is simple with only some minor modifications. Arrowheads now have a golf ball or ping-pong ball for a head. To get a hole in one, the player must hit the flagpole in the pocket. There are (3) 1 foot wide rings concentrically spaced around the flagpole. Inner ring = 1 stroke, middle = 2 strokes, outer = 3 strokes. If the arrow lands outside of the outer ring, the player must pick up the arrow and gently toss it underhand towards the pocket. Other than that, the standard rules of golf are followed. I don't have the equipment to test out my ideas. If someone here would try it out and PM me with the results and any suggestions that would be great.

Topic by javajunkie1976 6 years ago  |  last reply 6 years ago

Help with LED combination to make a face.

Hi,      I am trying to make a face using LEDs.  I have attached an image of what I want to make.  Referring to the image the first set of Led will fade in one by one and then stays on while the next set of LEDs fade in one by one.  This will continue until all the sets for the mouth LEDs have been faded in.  Then the eyes, white LEDs in the outer and yellow LEDs in the center, both will fade in together.  After everything has been on for afew seconds then they will fade out in the reverse direction of fade in.  I would appreciate any help or suggestions as to how to tackle this project.  Thank you

Question by pepelpue00 3 years ago  |  last reply 3 years ago

Combinational Lock using shift registers

Last year, i made the circuit of this already but now my brother is asking for my help and i cannot remember it now. im focusing right now in programming and forgot my logic circuit skills..please help me to remember this... what i remembered is that i have shift registers that memorized the buttons (0-9) i pressed...then i enter again a sequence of numbers and the device will check if it corresponds to the numbers i entered...the led will light if it is correct and will not if the numbers entered did not match the default numbers... i still have the list of some materials, 3 universal shift registers, 1 nand ic, 3 xnor ic, 10 toggle switch and 1 hold switch..  its not a very complex only problem is to remember on how will i work with the shift registers... please enlighten me once again

Topic by eaon21 8 years ago  |  last reply 8 years ago

Combining PSU rails for lab power supply? Answered

I recently received 2 old computers from friends for tinkering purposes. I'd like to take their PSUs and create a power supply for projects. However, they only have max outputs of 110W. So, I have a few questions: 1.) Is it possible to combine rails? 2.) Is it safe? 3.) What kind of power increase would I be seeing? Please try to answer all 3 individually.

Question by General Eggs 6 years ago  |  last reply 6 years ago

does anyone know any program that will combine mp4s well? Answered

 I want to be able to watch a full episode of Karin (Chibi Vampire) and I can download the video in 3 different parts. Now does anyone know of a program that will take each video and combine them into one?

Question by Iridium7 9 years ago  |  last reply 4 years ago

Please check my answer - Combinations problem.

  Hi all, would someone with a maths brain check my reasoning and working here please . . . Imagine a game board with 11 squares and three counters, which can be placed on any unoccupied square.  The counters are equivalent so it matters not which one is where.  There is also a fourth counter which can go anywhere on a square which is not occupied by one of the other counters. How many possible combinations of counter positions are there? OK,  the first part is a 3 from 11 combination problem solved by : n! / (r! (n-r)!) which is 165. For each possible 3 counter combination, the fourth counter can be on any of the remaining 8 spaces, so the total number of possible 'boards' is 8 * 165 = 1320.

Topic by AndyGadget 7 years ago  |  last reply 7 years ago

Would setting batteries in series combine their mAh? Answered

So say I have four 2,000 mAh batteries, and I set them in series. Would that give me 8,000 mAh?

Question by Sargebubbles26 6 years ago  |  last reply 6 years ago

Combine Old laptop Screen to Broken Monitor

I need help connecting a screen from a broken laptop to a broken screen monitor. please contact me thanks in regard

Topic by aantonovardakis 6 years ago  |  last reply 6 years ago

Digital Logic Design Project Combinational Lock?

In this project you are required to design a 4 digits combination lock (not using arduino)  The project is such that it can be reconfigurable i.e. there should be an option that we can change the password of the lock at run time. Input to the system is from the hex keypad. Output of the system is ‘open’ and ‘close’ words displayed on a seven segment I used registers,flip flops, mux ,comparator  but couldn't get the desired result

Question by r_sammad 4 years ago  |  last reply 4 years ago

can stepper motors be combined to double the amps?

I have four stepper motors connected in series to get 12v and more . Can I connect them differently for getting higher amps I think they currently put out like 30 ma each is there a way to increase this amp? thanks for sharing Al

Question by celalboz 9 years ago  |  last reply 9 years ago

Combine 2 (or 3) Joysticks to make one?

Okay I got 3 old Joysticks and lots of games that would be awesome to use DUAL JOYSTICKS. The joysticks use that old Joystick Port. So my question is if there is a way to join them into ONE set and be able to plug it into my computer. And if possible make it into USB?

Topic by itstemo1 11 years ago

can bridge rectifiers be combined to double the amps? Answered

Say we have 3 amp 3 rectifiers soldered would that function as 9amp rectifier or needed to be wired in a special way, series, paralel with other components? I am building an unknown power wind gen ans I gave 10   3 amp rectifiers. Thanks for sharing.. Al

Question by celalboz 9 years ago  |  last reply 9 years ago

How to use batteries in a Series-Parallel Combination?

   Is it possible to use 4 AAA Duracell batteries instead of 2 AA batteries if I were to put it in some form of Series/Parallel combination? Would it keep the same voltage and stuff to not interfere with the electronics of something but just increase the time between changing batteries? What would the layout look like for this? Thanks Instructablers!

Question by ranaakamarth 8 years ago  |  last reply 8 years ago

K'nex combined with LED's to create awsome Orbs.

I think this is a great example of the neverending potential of knex.This photographer set about making rotating led lit orbs. He then used a long exposure on his camera to create the amazing pictures you see here.I think for a simple building method, for a non permanent project, knex is one of the best options, and greatly under appreciated!Check out his full Flickr Set.via Makezine

Topic by gmjhowe 9 years ago  |  last reply 9 years ago

Push button controlling different light combinations?

You know how with some flash lights and such, you click the button and one LED turns on, then you press it again and more turn on. How would I get a result similar to that? What I'm trying to do is pressing a N/O button once and LED 1 turns on then clicking it again and LED 1 turns off while LED 2 turns on. I've been scratching my head over it for a few days but I cant figure out how.

Question by Kruegem 3 years ago  |  last reply 3 years ago

how to combine 2 Arduino codes together ?

Hello, I have a question. I need to combine my code for my Arduino project. I'm using a Arduino micro board .  The 2 codes are maxsonar and another is a flying drones coding. I'm lost and don't know how to combine the both of them as the maxsonar code will overwrite the flying drones code causing it unable to fly. Maxsonar code const int anPin1 = 0; const int anPin2 = 1; int triggerPin1 = 13; long distance1, distance2, cm1 ,cm2; void setup() {   Serial.begin(9600);  // sets the serial port to 9600   pinMode(triggerPin1, OUTPUT);   pinMode(A5, OUTPUT);   pinMode(A11, OUTPUT); } void start_sensor(){   digitalWrite(triggerPin1,HIGH);   delay(1);   digitalWrite(triggerPin1,LOW); } void Fading()//led1 { if (distance1 == 9) {    analogWrite(A5,25.5);     delay(10); } else if (distance1 == 8) {    analogWrite(A5,76.5);     delay(10); } else if( distance1 == 7) {    analogWrite(A5,153);     delay(10); } else if(distance1 == 6) {    analogWrite(A5,255);     delay(10); }   }   void Fading2()//led1 {   if (distance2 == 9) {    analogWrite(A11,25.5);     delay(10); } else if (distance2 == 8) {    analogWrite(A11,76.5);     delay(10); } else if( distance2 == 7) {    analogWrite(A11,153);     delay(10); } else if(distance2 == 6 ) {    analogWrite(A11,255);     delay(10); }   }   void read_sensors(){   /*   Scale factor is (Vcc/512) per inch. A 5V supply yields ~9.8mV/in   Arduino analog pin goes from 0 to 1024, so the value has to be divided by 2 to get the actual inches   */   distance1 = analogRead(anPin1)/2;   distance2 = analogRead(anPin2)/2; } void count_in_cm() {   cm1 = distance1 * 2.54;   cm2 = distance2 * 2.54; } void print_all() {     if( distance1 <10 && distance2 >=10 )   {   Fading();   analogWrite(A11,0);   Serial.print("Sensor1: Warning");   Serial.print(" ");   Serial.print(" ");   Serial.print("S2");   Serial.print(" ");   Serial.print(distance2);                                                                                                                                                                                                                                                                                                              Serial.print("in");   Serial.print(" ");   Serial.print(" ");   Serial.print(cm2);   Serial.print("cm");   Serial.println();   delay(700);     }   else if(distance1 >= 10 && distance2 < 10)   {   Fading2();   analogWrite(A5,0);   Serial.print("S1");   Serial.print(" ");   Serial.print(distance1);   Serial.print("in");   Serial.print(" ");   Serial.print(" ");   Serial.print(cm1);   Serial.print("cm");   Serial.print(" ");   Serial.print(" ");   Serial.print("Sensor2: Warning");   Serial.println();   delay(700);   }   else if (distance1 < 10 && distance2 < 10)   {     Fading();     Fading2();     Serial.print("Sensor1: Warning");     Serial.print("  ");     Serial.print("Sensor2: Warning");     Serial.println();     delay(700);      }   else   {   analogWrite(A11,0);   analogWrite(A5,0);   Serial.print("S1");   Serial.print(" ");   Serial.print(distance1);   Serial.print("in");   Serial.print(" ");   Serial.print(" ");   Serial.print(cm1);   Serial.print("cm");   Serial.print(" ");   Serial.print(" ");    Serial.print("S2");   Serial.print(" ");   Serial.print(distance2);   Serial.print("in");   Serial.print(" ");   Serial.print(" ");   Serial.print(cm2);   Serial.print("cm");   Serial.println();   delay(700);   } } void loop() {   start_sensor();   read_sensors();   count_in_cm();   print_all();   delay(200); //This is the equivant of the amount of sensors times 50.  If you changed this to 5 sensors the delay would be 250. } flying drone code #include #include // channel declaration Servo channel1; // throttle Servo channel2; // yaw Servo channel3; // pitch Servo channel4; // roll Servo channel5; // ball drop servo // PWM freq setting, should it be 62.33Hz? const int PWMConst = 20022;//50HZ // global variables byte incomingByte, incomingByteUSB; byte rcBuffer[32], usbBuffer[12]; int i = 0, j = 0, STATE = 1; int Flag = 0, usbFlag = 0; unsigned int thr_16int = 0, yaw_16int = 0, pit_16int = 0, rol_16int = 0, gear_16int = 0; unsigned int thr_16int_usb = 0, yaw_16int_usb = 0, pit_16int_usb = 0, rol_16int_usb = 0; float throttle = 1000, roll = 1500, pitch = 1500, yaw = 1500; int gear = 1500; float currT, prevT = 0, _flagHover, throFlag; // functions declaration void extract_RC_cmd(void); void extract_USB_cmd(void); void translate_RC_cmd(void); void translate_USB_cmd(void); void RC_Neutral(void); void reset_usb(void); void reset_rc(void); void hover(void); void sonar(void); void setup() {   // setting registers   TCCR1A = _BV(COM1A1) | _BV(COM1B1);   TCCR1B = _BV(WGM13) | _BV(CS11);   ICR1 = PWMConst;   // set PWM I/O ports   channel1.attach(6);    // throttle   channel2.attach(9);    // yaw   channel3.attach(5);    // pitch   channel4.attach(10);    // roll   channel5.attach(11);   // fail safe-attit   //init usb buffer   usbBuffer[0] = 0x03;   usbBuffer[1] = 0xE8;   usbBuffer[2] = 0x0D;   usbBuffer[3] = 0xAC;   usbBuffer[4] = 0x15;   usbBuffer[5] = 0x7C;   usbBuffer[6] = 0x1D;   usbBuffer[7] = 0x4C;   reset_rc();   reset_usb();   Serial1.begin(115200);   // rc Rx data in   Serial.begin(115200);     // USB } void loop() {   // accept serial data from computer   if (Serial.available() > 0)   {     incomingByteUSB =;     if (incomingByteUSB >= 0x03 && incomingByteUSB <= 0x07)     {       usbFlag = 1;     }     if (usbFlag == 1)     {       usbBuffer[j] = incomingByteUSB;       j++;       if (j == 12)       {         usbFlag = 0;         j = 0;         extract_USB_cmd();       }     }   }   // accepte serial data from RC   if (Serial1.available() > 0)   {     incomingByte =;     if (incomingByte >= 0x80 && incomingByte <= 0x87)     {       Flag = 1;     }     if (Flag == 1)     {       rcBuffer[i] = incomingByte;       i++;       if (i == 32)       {         Flag = 0;         i = 0;         extract_RC_cmd();       }     }     // Serial.print(rcBuffer[i]);   }   // STATE MACHINE   switch (STATE)   {     case 1:       translate_USB_cmd();       reset_rc();       //Serial.print();       break;     case 2:       translate_RC_cmd();       reset_usb();       //Serial.print('R');       break;     case 3:       landing();       break;     default:       RC_Neutral();       break;   }     // output PWM   channel1.write(throttle);   channel2.write(yaw);   channel3.write(pitch);   channel4.write(roll);   channel5.write(gear); } // local functions void extract_RC_cmd() {   if (rcBuffer[0] >= 0x80 && rcBuffer[0] <= 0x87) // double check throttle range   {     thr_16int = rcBuffer[0] << 8 | rcBuffer[1]; // 16 bit throttle     // Serial.print(thr_16int);   }   if (rcBuffer[4] >= 0x19 && rcBuffer[4] <= 0x1E) // double check yaw range   {     yaw_16int = rcBuffer[4] << 8 | rcBuffer[5]; // 16 bit yaw     //Serial.print(yaw_16int);   }   if (rcBuffer[16] >= 0x09 && rcBuffer[16] <= 0x0E) // double check yaw range   {     rol_16int = rcBuffer[16] << 8 | rcBuffer[17]; // 16 bit yaw     //Serial.print(rol_16int);   }   if (rcBuffer[20] >= 0x11 && rcBuffer[20] <= 0x16) // double check yaw range   {     pit_16int = rcBuffer[20] << 8 | rcBuffer[21]; // 16 bit yaw     //Serial.print(pit_16int);   }   if (rcBuffer[22] >= 0x21 && rcBuffer[22] <= 0x26) // double check gear range   {     gear_16int = rcBuffer[22] << 8 | rcBuffer[23]; // 16 bit pitch     //Serial.print(pit_16int);   }   // state   if (rcBuffer[24] == 0x37 && rcBuffer[25] == 0xE0)    // Fmode SW state 1: Auto   {     STATE = 1;   }   else if (rcBuffer[24] == 0x34 && rcBuffer[25] == 0x00) // Fmode SW state 2: Manual   {     STATE = 2;   }   else if (rcBuffer[24] == 0x31 && rcBuffer[25] == 0xB4) // Fmode SW state 3: Emergency landing   {     STATE = 3;   } } void extract_USB_cmd(void) {   if (usbBuffer[0] >= 0x03 && usbBuffer[0] <= 0x07) // double check throttle range   {     thr_16int_usb = usbBuffer[0] << 8 | usbBuffer[1]; // 16 bit throttle   }   if (usbBuffer[2] >= 0x0B && usbBuffer[2] <= 0x0F) // double check yaw range   {     yaw_16int_usb = usbBuffer[2] << 8 | usbBuffer[3]; // 16 bit yaw   }   if (usbBuffer[4] >= 0x13 && usbBuffer[4] <= 0x17) // double check pit range   {     pit_16int_usb = usbBuffer[4] << 8 | usbBuffer[5]; // 16 bit pitch   }   if (usbBuffer[6] >= 0x1B && usbBuffer[6] <= 0x1F) // double check rol range   {     rol_16int_usb = usbBuffer[6] << 8 | usbBuffer[7]; // 16 bit role   }   // state   if (usbBuffer[10] == 0x2A && usbBuffer[11] == 0xF8)   {     //state = 1; // auto   }   else if (usbBuffer[10] == 0x2C && usbBuffer[11] == 0xEC)   {     STATE = 3; // emergency landing   }   else if (usbBuffer[10] == 0x2E && usbBuffer[11] == 0xE0)   {     STATE = 0; // default rc neutral   } } void translate_RC_cmd(void) {   throttle = (thr_16int - 30752 ) / 2.016;   yaw   = (9243 - yaw_16int) / 1.382;   pitch = (pit_16int - 3047) / 1.378;   roll  = (5129 - rol_16int) / 1.373;   gear  = (gear_16int - 7506) / 1.165;   throttle = min(2000, max(1000, throttle));   yaw      = min(2000, max(1000, yaw));   pitch    = min(2000, max(1000, pitch));   roll     = min(2000, max(1000, roll));   gear     = min(2000, max(1000, gear)); } void translate_USB_cmd(void) {   throttle = thr_16int_usb;   yaw = yaw_16int_usb - 2000;   pitch = pit_16int_usb - 4000;   roll =  rol_16int_usb - 6000;   //Serial.print(thr_16int_usb);   throttle = min(2000, max(1000, throttle));   yaw      = min(2000, max(1000, yaw));   pitch    = min(2000, max(1000, pitch));   roll     = min(2000, max(1000, roll)); } void RC_Neutral(void) {   throttle = 1000;   yaw = 1500;   pitch = 1500;   roll = 1500; } void landing(void) {   throttle = throttle - 1;   if (throttle <= 1000) throttle = 1000;   yaw = 1500;   pitch = 1500;   roll = 1500; } void reset_usb(void) {   thr_16int_usb = 1000;   yaw_16int_usb = 3500;   pit_16int_usb = 5500;   rol_16int_usb = 7500; } void reset_rc(void) {   thr_16int = 0x8000;   yaw_16int = 0x1C03;   pit_16int = 0x13FD;   rol_16int = 0x0C07; }

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