TRR 2018 / Mbed 2 deprecated biniou-TRR2019-DLVV

Dependencies:   mbed MPU6050

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
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