29 lines
627 B
C
29 lines
627 B
C
#include <avr/io.h>
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#include <util/delay.h>
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#include "common.h"
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#include "servos.h"
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void init_servos(void)
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{
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SET(SERVO_DDR, SERVO_L_BIT);
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SET(SERVO_DDR, SERVO_R_BIT);
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SET(TCCR0A, COM0A1); // Clear OC0A on Compare Match, set OC0A at BOTTOM
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SET(TCCR0A, COM0B1); // Clear OC0B on Compare Match, set OC0B at BOTTOM
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// Fast PWM, 0xFF TOP
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SET(TCCR0A, WGM00);
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SET(TCCR0A, WGM01);
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// Prescaler. clkPWM = clkIO / 64
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SET(TCCR0B, CS00);
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SET(TCCR0B, CS01);
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}
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void run_servos(void)
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{
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SERVO_L_REG = US2TIMER0(SERVO_MAX);
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SERVO_R_REG = US2TIMER0(SERVO_MID);
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_delay_ms(10000); // 10s
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}
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