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Dependencies:   mbed MPU6050

sm_servo.h

Committer:
GaspardD
Date:
2019-10-03
Revision:
9:1b54bac6d9a7
Parent:
8:f23601373e8b
Child:
12:58ad06f9847d

File content as of revision 9:1b54bac6d9a7:

#ifndef H_SM_SERVO
#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 1500
#define SERVO_PULSE_MAX_US 2000
#define SERVO_PULSE_MIN_US 1050


/*
Enums
*/

typedef enum{
    SERVO_INIT,
    SERVO_COMMAND
}E_STATE_SERVO;

/*
Variables
*/



/*
Functions
*/
void init_sm_servo();
void update_sm_servo();
void output_sm_servo();

double compute_angle_correction(double consigne);
double pwmFromAngle(double angleDeg);
double positionOnTrack();

#endif