inspektors/robot/include/servos.h

#ifndef SERVOS_H
#define SERVOS_H

#define SERVO_DDR       DDRD
#define SERVO_L_REG     OCR0B
#define SERVO_R_REG     OCR0A
#define SERVO_L_BIT     PD5
#define SERVO_R_BIT     PD6

#define SERVO_MIN       930 // (us). Go backwards
#define SERVO_MAX       1930 // (us). Go forwards
#define SERVO_MID       (SERVO_MIN + SERVO_MAX) / 2 // (us). Stop

#define PRESCALER       1024L
#define PWM_CLOCK       F_CPU / (256 * PRESCALER)
#define PWM_PERIOD_US   1000000 / PWM_CLOCK

#define US2TIMER0(us)   (255 * (uint32_t)us) / PWM_PERIOD_US


void init_servos(void);
void run_servos(void);

#endif /* SERVOS_H */