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Dependencies:   mbed MPU6050

sm_servo.h@8:f23601373e8b, 2019-10-02 (annotated)

Committer:
GaspardD
Date:
Wed Oct 02 22:25:12 2019 +0000
Revision:
8:f23601373e8b
Parent:
6:ab9f3695633f
Child:
9:1b54bac6d9a7
angle correction working

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 2:e9d928fd327a 12 /*
GaspardD 2:e9d928fd327a 13 Enums
GaspardD 2:e9d928fd327a 14 */
GaspardD 2:e9d928fd327a 15
GaspardD 2:e9d928fd327a 16 typedef enum{
GaspardD 2:e9d928fd327a 17 SERVO_INIT,
GaspardD 2:e9d928fd327a 18 SERVO_COMMAND
GaspardD 2:e9d928fd327a 19 }E_STATE_SERVO;
GaspardD 2:e9d928fd327a 20
GaspardD 2:e9d928fd327a 21 /*
GaspardD 2:e9d928fd327a 22 Variables
GaspardD 2:e9d928fd327a 23 */
GaspardD 2:e9d928fd327a 24
GaspardD 2:e9d928fd327a 25
GaspardD 2:e9d928fd327a 26
GaspardD 2:e9d928fd327a 27 /*
GaspardD 2:e9d928fd327a 28 Functions
GaspardD 2:e9d928fd327a 29 */
GaspardD 2:e9d928fd327a 30 void init_sm_servo();
GaspardD 2:e9d928fd327a 31 void update_sm_servo();
GaspardD 2:e9d928fd327a 32 void output_sm_servo();
GaspardD 2:e9d928fd327a 33
GaspardD 8:f23601373e8b 34 double compute_angle_correction(double consigne);
GaspardD 8:f23601373e8b 35 double pwmFromAngle(double angleDeg);
GaspardD 2:e9d928fd327a 36
GaspardD 2:e9d928fd327a 37 #endif