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TJPS
Dependencies: Adafruit-PWM-Servo-Driver mbed
Fork of Adafruit-PWM-Servo-Driver_sample by
main.cpp@0:4323102e4255, 2013-08-17 (annotated)
- Committer:
- syundo0730
- Date:
- Sat Aug 17 09:01:43 2013 +0000
- Revision:
- 0:4323102e4255
- Child:
- 2:a94e3ade9632
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
syundo0730 | 0:4323102e4255 | 1 | #include "mbed.h" |
syundo0730 | 0:4323102e4255 | 2 | #include "Adafruit_PWMServoDriver.h" |
syundo0730 | 0:4323102e4255 | 3 | |
syundo0730 | 0:4323102e4255 | 4 | Adafruit_PWMServoDriver pwm(p9, p10); |
syundo0730 | 0:4323102e4255 | 5 | |
syundo0730 | 0:4323102e4255 | 6 | void setServoPulse(uint8_t n, float pulse) { |
syundo0730 | 0:4323102e4255 | 7 | float pulselength = 10000; // 10,000 us per second |
syundo0730 | 0:4323102e4255 | 8 | pulse = 4094 * pulse / pulselength; |
syundo0730 | 0:4323102e4255 | 9 | pwm.setPWM(n, 0, pulse); |
syundo0730 | 0:4323102e4255 | 10 | } |
syundo0730 | 0:4323102e4255 | 11 | |
syundo0730 | 0:4323102e4255 | 12 | void initServoDriver() { |
syundo0730 | 0:4323102e4255 | 13 | pwm.begin(); |
syundo0730 | 0:4323102e4255 | 14 | //pwm.setPWMFreq(100); //This dosen't work well because of uncertain clock speed. Use setPrescale(). |
syundo0730 | 0:4323102e4255 | 15 | pwm.setPrescale(64); //This value is decided for 10ms interval. |
syundo0730 | 0:4323102e4255 | 16 | pwm.setI2Cfreq(400000); //400kHz |
syundo0730 | 0:4323102e4255 | 17 | } |
syundo0730 | 0:4323102e4255 | 18 | |
syundo0730 | 0:4323102e4255 | 19 | int main() { |
syundo0730 | 0:4323102e4255 | 20 | //pwm.i2c_probe(); |
syundo0730 | 0:4323102e4255 | 21 | initServoDriver(); |
syundo0730 | 0:4323102e4255 | 22 | setServoPulse(0, 1000); |
syundo0730 | 0:4323102e4255 | 23 | |
syundo0730 | 0:4323102e4255 | 24 | while(1); |
syundo0730 | 0:4323102e4255 | 25 | } |