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Dependencies:   mbed MPU6050

sm_servo.h@12:58ad06f9847d, 2019-10-04 (annotated)

Committer:
GaspardD
Date:
Fri Oct 04 22:20:23 2019 +0000
Revision:
12:58ad06f9847d
Parent:
9:1b54bac6d9a7 
dernier code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 2:e9d928fd327a 1 #ifndef H_SM_SERVO
GaspardD 2:e9d928fd327a 2 #define H_SM_SERVO
GaspardD 2:e9d928fd327a 3
GaspardD 2:e9d928fd327a 4 #include "utils.h"
GaspardD 8:f23601373e8b 5 #include "odom.h"
GaspardD 2:e9d928fd327a 6
GaspardD 3:1b7eb426247e 7 #define SERVO_PERIOD_DURATION_MS 20 //20ms is default but 10ms seems ok
GaspardD 8:f23601373e8b 8 #define SERVO_PULSE_MIDDLE_US 1500
GaspardD 4:efa207509f63 9 #define SERVO_PULSE_MAX_US 2000
GaspardD 4:efa207509f63 10 #define SERVO_PULSE_MIN_US 1050
GaspardD 2:e9d928fd327a 11
GaspardD 9:1b54bac6d9a7 12
GaspardD 2:e9d928fd327a 13 /*
GaspardD 2:e9d928fd327a 14 Enums
GaspardD 2:e9d928fd327a 15 */
GaspardD 2:e9d928fd327a 16
GaspardD 2:e9d928fd327a 17 typedef enum{
GaspardD 2:e9d928fd327a 18 SERVO_INIT,
GaspardD 2:e9d928fd327a 19 SERVO_COMMAND
GaspardD 2:e9d928fd327a 20 }E_STATE_SERVO;
GaspardD 2:e9d928fd327a 21
GaspardD 2:e9d928fd327a 22 /*
GaspardD 2:e9d928fd327a 23 Variables
GaspardD 2:e9d928fd327a 24 */
GaspardD 2:e9d928fd327a 25
GaspardD 12:58ad06f9847d 26 extern double d_SERVO_coefFreinage;
GaspardD 2:e9d928fd327a 27
GaspardD 2:e9d928fd327a 28 /*
GaspardD 2:e9d928fd327a 29 Functions
GaspardD 2:e9d928fd327a 30 */
GaspardD 2:e9d928fd327a 31 void init_sm_servo();
GaspardD 2:e9d928fd327a 32 void update_sm_servo();
GaspardD 2:e9d928fd327a 33 void output_sm_servo();
GaspardD 2:e9d928fd327a 34
GaspardD 8:f23601373e8b 35 double compute_angle_correction(double consigne);
GaspardD 8:f23601373e8b 36 double pwmFromAngle(double angleDeg);
GaspardD 9:1b54bac6d9a7 37 double positionOnTrack();
GaspardD 2:e9d928fd327a 38
GaspardD 2:e9d928fd327a 39 #endif