Diff: RobotServo.h

Revision:

0:830ddddc129f

Child:

1:709be64ca63c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotServo.h	Thu Jun 09 09:46:38 2016 +0000
@@ -0,0 +1,60 @@
+#include "mbed.h"
+
+#define PWM_PERIOD          1.0f/244.0f
+#define POWER_REDU_PW       0.0001f
+
+#define PWR_REDU_PW         0.0001  //100us ~ 200us
+#define PWR_REDU_DUTY_1024  PWR_REDU_PW*244*1024
+#define PWR_REDU_DUTY_256   PWR_REDU_PW*244*256
+#define MIN_SERVO_PW        0.0007  //pulse width in second
+#define MAX_SERVO_PW        0.0023  //pulse width in second
+#define MIN_SERVO_DUTY_1024 MIN_SERVO_PW*244*1024
+#define MAX_SERVO_DUTY_1024 MAX_SERVO_PW*244*1024
+#define MIN_SERVO_DUTY_256  MIN_SERVO_PW*244*256
+#define MAX_SERVO_DUTY_256  MAX_SERVO_PW*244*256
+
+#define Ts 0.004098
+#define pi 3.14159
+
+#define H_PEDAL_DIVIDER 2
+#define M_PEDAL_DIVIDER 3
+#define L_PEDAL_DIVIDER 5
+#define Z_PEDAL_DIVIDER 5
+
+#define TOT_ARM_POS     41
+#define TOT_FOOT_POS    55  //48 + TOT_STOP_POS
+#define TOT_STOP_POS  7
+#define FIRST_POS  7
+
+#define HANDLE_STOP     30
+#define HANDLE_STRAIGHT 0 - 6
+#define HANDLE_START    20  //16 - 6
+
+#define COUN2_LOW_V   TOT_STOP_POS
+#define COUN2_MID_V   19
+#define COUN2_HIGH_V  38
+
+#define COUN2_HANDLE_CNTRL  19
+#define COUN2_HANDLE_START  10
+
+extern const int servoangle_left[TOT_ARM_POS][3];
+extern const int servoangle_right[TOT_ARM_POS][3];
+
+extern const float footangle_left[TOT_FOOT_POS][4];
+extern const float footangle_right[TOT_FOOT_POS][4];
+
+extern void setupServo(void);
+
+extern void pwm_left(float angle_up, float angle_mid, float angle_down);    //Left arm
+extern void pwm_right(float angle_up, float angle_mid, float angle_down);   //Left arm
+extern void lookuptable_steering(int8_t sensor_output);
+
+extern void pwm_left_foot(float angle_1, float angle_2, float angle_3, float angle_4);
+extern void pwm_right_foot(float angle_1, float angle_2, float angle_3, float angle_4);
+extern void lookuptable_pedaling(int index);
+
+extern void reset_left_butt(void);
+extern void reset_pos(void);
+extern void stop_pos(void);
+
+extern int angle_to_duty(int resolution, float degree);