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Merge pull request #6 from rhssk/servos

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Use TC1 to drive an additional servo motor
This commit is contained in:
Rihards Skuja 2017-11-25 11:41:05 +00:00 committed by GitHub
commit 0e6fe01609
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 26 additions and 18 deletions
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6
include/io.h
View File

@ -7,8 +7,10 @@
#define LED_1 PD2
/* Servo motors */
#define SERVO_L PB1
#define SERVO_R PD6
#define SERVO_L_PIN PB1
#define SERVO_L OCR1A
#define SERVO_R_PIN PB2
#define SERVO_R OCR1B
/* Photo sensors */
#define PH_1 PC1

3
include/main.h
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@ -6,7 +6,8 @@
#define CHK(PORT, PIN) (PORT & (1 << PIN))
#define TOG(PORT, PIN) (PORT ^= (1 << PIN))
void initIO(void);
void initLED(void);
void initPWM(void);
void blinkLed(void);
void readTemp(void);
void readPhoto(void);

35
src/main.c
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@ -9,21 +9,22 @@
#include "debug.h"
#endif /* DEBUG */
void initIO()
void initPWM(void)
{
/* Servos */
SET(DDRB, SERVO_L);
/* Phase Correct PWM, 9-bit; Inverting mode */
TCCR1A |= 1 << WGM11 | 1 << COM1A1 | 1 << COM1A0;
DDRB |= 1 << SERVO_L_PIN | 1 << SERVO_R_PIN;
/* Phase Correct PWM; Set/clear on Compare Match when down/up-counting */
TCCR1A |= 1 << WGM11 | 1 << COM1A1 | 1 << COM1B1;
/* "Clear Timer on Compare match" mode; Prescaler = 1 */
TCCR1B |= 1 << WGM13 | 1 << WGM12 | 1 << CS10;
ICR1 = 19999; // F_CPU / 50Hz - 1
TCCR1B |= 1 << WGM12 | 1 << WGM13 | 1 << CS10;
ICR1 = F_CPU / 50 - 1; // 50Hz required by servos
}
/* LED */
void initLED(void)
{
SET(DDRD, LED_1);
}
void readTemp()
void readTemp(void)
{
double d;
@ -39,27 +40,31 @@ void readTemp()
}
}
void runServos()
void runServos(void)
{
/* Stop */
OCR1A = ICR1 - 1500;
SERVO_L = 1500;
SERVO_R = 1500;
_delay_ms(1500);
/* Reverse */
OCR1A = ICR1 - 2000;
SERVO_L = 2000;
SERVO_R = 2000;
_delay_ms(1500);
/* Forwards */
OCR1A = ICR1 - 1000;
SERVO_L = 1000;
SERVO_R = 1000;
_delay_ms(1500);
}
int main(void)
{
initIO();
initLED();
initPWM();
runServos();
readTemp();
return 0;
}