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Diff: sm_servo.h
- Revision:
- 8:f23601373e8b
- Parent:
- 6:ab9f3695633f
- Child:
- 9:1b54bac6d9a7
--- a/sm_servo.h Sun Sep 29 20:22:43 2019 +0000 +++ b/sm_servo.h Wed Oct 02 22:25:12 2019 +0000 @@ -2,9 +2,10 @@ #define H_SM_SERVO #include "utils.h" +#include "odom.h" #define SERVO_PERIOD_DURATION_MS 20 //20ms is default but 10ms seems ok -#define SERVO_PULSE_MIDDLE_US 1550 +#define SERVO_PULSE_MIDDLE_US 1500 #define SERVO_PULSE_MAX_US 2000 #define SERVO_PULSE_MIN_US 1050 @@ -30,5 +31,7 @@ void update_sm_servo(); void output_sm_servo(); +double compute_angle_correction(double consigne); +double pwmFromAngle(double angleDeg); #endif \ No newline at end of file