2018-01-02 14:02:42 +02:00
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#ifndef SERVOS_H
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#define SERVOS_H
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2018-01-09 20:17:50 +02:00
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#define SERVO_DDR DDRD
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#define SERVO_L_REG OCR0B
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#define SERVO_R_REG OCR0A
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#define SERVO_L_BIT PD5
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#define SERVO_R_BIT PD6
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2018-01-02 14:02:42 +02:00
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#define SERVO_MIN 930 // (us). Go backwards
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#define SERVO_MAX 1930 // (us). Go forwards
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#define SERVO_MID (SERVO_MIN + SERVO_MAX) / 2 // Stop
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#define PWM_PERIOD 16384 // (1000000 / F_CPU) * PRESCALER * 256) / F_CPU (us)
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#define US2TIMER0(us) (255 * (uint32_t)us) / PWM_PERIOD
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void init_servos(void);
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void run_servos(void);
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#endif /* SERVOS_H */
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