38 lines
1.1 KiB
C
38 lines
1.1 KiB
C
#ifndef SERVOS_H
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#define SERVOS_H
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#define SERVO_DDR DDRD
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#define SERVO_L_REG OCR0A
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#define SERVO_R_REG OCR0B
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#define SERVO_L_BIT PD6
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#define SERVO_R_BIT PD5
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// Not just MID +- 500us because of rounding errors (e.g. 19.9 will become
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// 19 and not 20 because of integer division)
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#define SERVO_MID 1381UL
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#define SERVO_MAX 1883UL
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#define SERVO_MIN 880UL
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#define SERVO_L_STOP SERVO_MID
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#define SERVO_L_FORW SERVO_MAX
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#define SERVO_L_BACKW SERVO_MIN
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#define SERVO_R_STOP SERVO_MID
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#define SERVO_R_FORW SERVO_MIN
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#define SERVO_R_BACKW SERVO_MAX
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#define SERVO_DIR_BACKW 0
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#define SERVO_DIR_FORW 1
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#define SERVO_90_TURN_MS 1000
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#define SERVO_CM_PER_S 15 // Distance in cm that servos travel in 1s
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#define PRESCALER 1024UL
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#define PWM_PERIOD_MS (uint16_t)((256000UL * PRESCALER) / F_CPU)
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#define US2TIMER0(us) (uint8_t)((51U * us) / (200U * PWM_PERIOD_MS))
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void init_servos(void);
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void servo_speed(uint8_t direction, uint8_t load_percent_l, uint8_t load_percent_r);
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#endif /* SERVOS_H */
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