39 lines
1.0 KiB
C
39 lines
1.0 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 STOP +- 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 PRESCALER 1024UL
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#define PWM_PERIOD_MS (uint16_t)((256000UL * PRESCALER) / F_CPU)
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#define US2TIMER0(us) (uint16_t)((51U * us) / (200U * PWM_PERIOD_MS))
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void init_servos(void);
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void servo_full_forw(void);
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void servo_turn_forw_r(void);
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void servo_turn_forw_l(void);
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void servo_full_backw(void);
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void servo_turn_backw_r(void);
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void servo_turn_backw_l(void);
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#endif /* SERVOS_H */
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