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Dependencies:   mbed MPU6050

sm_servo.cpp@2:e9d928fd327a, 2019-09-28 (annotated)

Committer:
GaspardD
Date:
Sat Sep 28 22:58:02 2019 +0000
Revision:
2:e9d928fd327a
Child:
3:1b7eb426247e
servo state machine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 2:e9d928fd327a 1 #include "sm_servo.h"
GaspardD 2:e9d928fd327a 2
GaspardD 2:e9d928fd327a 3 PwmOut pwm_Servo(PE_9);
GaspardD 2:e9d928fd327a 4 E_STATE_SERVO e_stateServo;
GaspardD 2:e9d928fd327a 5
GaspardD 2:e9d928fd327a 6
GaspardD 2:e9d928fd327a 7 void init_sm_servo()
GaspardD 2:e9d928fd327a 8 {
GaspardD 2:e9d928fd327a 9 pc.printf("init servo with pulse %d us",SERVO_PULSE_MIDDLE_US);
GaspardD 2:e9d928fd327a 10 pwm_Servo.period_ms(SERVO_PERIOD_DURATION_MS);
GaspardD 2:e9d928fd327a 11 pwm_Servo.pulsewidth_us(SERVO_PULSE_MIDDLE_US);
GaspardD 2:e9d928fd327a 12 e_stateServo = SERVO_INIT;
GaspardD 2:e9d928fd327a 13 }
GaspardD 2:e9d928fd327a 14
GaspardD 2:e9d928fd327a 15 void update_sm_servo()
GaspardD 2:e9d928fd327a 16 {
GaspardD 2:e9d928fd327a 17 E_STATE_SERVO next_state;
GaspardD 2:e9d928fd327a 18
GaspardD 2:e9d928fd327a 19 switch(e_stateServo) {
GaspardD 2:e9d928fd327a 20 case SERVO_INIT:
GaspardD 2:e9d928fd327a 21 next_state = SERVO_COMMAND;
GaspardD 2:e9d928fd327a 22 break;
GaspardD 2:e9d928fd327a 23 case SERVO_COMMAND:
GaspardD 2:e9d928fd327a 24 break;
GaspardD 2:e9d928fd327a 25 default:
GaspardD 2:e9d928fd327a 26 break;
GaspardD 2:e9d928fd327a 27 }
GaspardD 2:e9d928fd327a 28
GaspardD 2:e9d928fd327a 29 e_stateServo = next_state;
GaspardD 2:e9d928fd327a 30 return;
GaspardD 2:e9d928fd327a 31 }
GaspardD 2:e9d928fd327a 32
GaspardD 2:e9d928fd327a 33 void output_sm_servo()
GaspardD 2:e9d928fd327a 34 {
GaspardD 2:e9d928fd327a 35 return;
GaspardD 2:e9d928fd327a 36 }