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Revision 244, 1.8 kB
(checked in by phil, 4 years ago)
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added initial Tail Source Package
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// File: Servos.h |
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//------------------------------------------------------------------------------ |
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// Author: Giovanni de Sanctis |
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// Email: info@lateral-technologies.com |
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//------------------------------------------------------------------------------ |
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// Date: Dec 2018 |
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// Controls the 2 servos |
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//------------------------------------------------------------------------------ |
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#ifndef SERVOS_H |
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#define SERVOS_H |
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#include <stdint.h> |
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#define K 2 |
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//#define P0 (K*500) |
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//#define P1 (K*850) |
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//#define P2 (K*1050) |
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//#define P3 (K*1350) |
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//#define P4 (K*1500) |
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//#define P5 (K*1750) |
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//#define P6 (K*2050) |
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//#define P7 (K*2200) |
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//#define P9 (K*2500) |
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#define PL 0x0F //Last position, don't update |
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#define P0 0 //(K*500) // 0 degrees |
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#define P1 1 //(K*750) // 22.5 degrees |
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#define P2 2 //(K*1000) // 45.0 degrees |
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#define P3 3 //(K*1250) // 67.5 degrees |
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#define P4 4 //(K*1500) // 90.0 degrees |
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#define P5 5 //(K*1750) //112.5 degrees |
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#define P6 6 //(K*2000) //135 0 degrees |
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#define P7 7 //(K*2250) //157.5 degrees |
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#define P8 8 //(K*2500) //180.0 degrees |
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#define SERVO1_HOME P8 |
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#define SERVO2_HOME P0 |
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#define POS2SERVO(x) (int16_t)(((int16_t)K*550)+(int16_t)x*K*240) |
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#define T_PWM_SERVO 20 |
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#define F_SERVO 50u //1/T_PwM_SERVO = 1/20ms = 50 Hz |
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//Initialise servos |
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void initServos(); |
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//Powers the servos |
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void startServos(); |
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//Turns off power to the servos |
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void stopServos(); |
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//Return >0 if servo power is on |
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uint8_t isServoOn(); |
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//Set servo to position pos (K*500 to K*2500) |
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void setServo1(int16_t pos); |
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void setServo2(int16_t pos); |
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#endif /* SERVOS_H */ |
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