Access SD21 21 channel servo controller
SD21.cpp
- Committer:
- jimherd
- Date:
- 2012-02-09
- Revision:
- 3:f8b3023564af
- Parent:
- 0:0f81e14bfae9
File content as of revision 3:f8b3023564af:
/* SD21 - 21 Channel Servo Driver Module Library Copyright (c) 2011 Jim Herd This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #include "SD21.h" #include "mbed.h" /*----------------------------------------------------------------------------- * */ SD21::SD21(PinName sda, PinName scl) : _i2c(sda, scl) { reset(); // initialise chip to power-on condition }; void SD21::reset() { } void SD21::set_servo(int servo_num, int angle, int speed) { char buffer[4]; // // calculate servo pulse width from angle // SD21_tmp_data.value32 = 1000 + ((angle * 1000)/90); // // load i2c buffer with necessary data // buffer[0] = (char)((servo_num - 1) * 3); // convert servo number to register address buffer[1] = (char)speed; buffer[2] = SD21_tmp_data.value8[0]; buffer[3] = SD21_tmp_data.value8[1]; // // send buffer to SD21 device // _i2c.write(SD21_I2C_ADDRESS, buffer, 4); // // log these servo values // servo_state[(servo_num - 1)].angle = angle; servo_state[(servo_num - 1)].speed = speed; }