58 lines
2.8 KiB
C
58 lines
2.8 KiB
C
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/*
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Higher level servo driving library for Little Wire.
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Copyright (C) <2013> ihsan Kehribar <ihsan@kehribar.me>
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Permission is hereby granted, free of charge, to any person obtaining a copy of
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this software and associated documentation files (the "Software"), to deal in
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the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do
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so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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#include "littleWire_servo.h"
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/********************************************************************************
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* Useful definitions
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********************************************************************************/
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const float MIN_LIMIT = 0.45; // in miliseconds
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const float MAX_LIMIT = 2.45; // in miliseconds
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const float STEP_SIZE = 0.062; // in miliseconds
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const float RANGE = 180.0; // in degrees
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/*******************************************************************************/
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/********************************************************************************
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* Servo module initialization
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********************************************************************************/
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void servo_init(littleWire* lwHandle)
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{
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pwm_init(lwHandle); // Initialize the PWM hardware.
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pinMode(lwHandle,PWMA,OUTPUT); pinMode(lwHandle,PWMB,OUTPUT); // Set PWM pins output.
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pwm_updatePrescaler(lwHandle,1024); // Make sure the PWM prescaler is set correctly.
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}
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/*******************************************************************************/
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/********************************************************************************
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* Servo locations update
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* locationChannelA in degrees
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* locationChannelB in degrees
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********************************************************************************/
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void servo_updateLocation(littleWire* lwHandle,unsigned char locationChannelA,unsigned char locationChannelB)
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{
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locationChannelA=(((locationChannelA/RANGE)*(MAX_LIMIT-MIN_LIMIT))+MIN_LIMIT)/STEP_SIZE;
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locationChannelB=(((locationChannelB/RANGE)*(MAX_LIMIT-MIN_LIMIT))+MIN_LIMIT)/STEP_SIZE;
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pwm_updateCompare(lwHandle,locationChannelA,locationChannelB);
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}
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/*******************************************************************************/
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