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Dependencies:   mbed MPU6050

sm_servo.h

Committer:
GaspardD
Date:
2019-10-02
Revision:
8:f23601373e8b
Parent:
6:ab9f3695633f
Child:
9:1b54bac6d9a7

File content as of revision 8:f23601373e8b:

#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);

#endif