Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
PWM.h
- Committer:
- syundo0730
- Date:
- 2013-09-04
- Revision:
- 21:a54bcab078ed
- Parent:
- 16:e65c192b7ecf
File content as of revision 21:a54bcab078ed:
#ifndef PWM_H_2012_08_28_ #define PWM_H_2012_08_28_ #include "LPC17xx.h" #include "mbed.h" const uint32_t SRV_PERIOD = 2500 - 1;// const uint32_t SRV_MAX_DUTY = 2100 - 1;// const uint32_t SRV_MIN_DUTY = 900 - 1;// const uint8_t SRV_IDX_SHIFT = 3;// const uint8_t SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;// const uint8_t SRV_IDX_MASK = SRV_IDX_NUM - 1;// const uint8_t SRV_BANK_NUM = 3;// const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;// const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM] = { {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD}, {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD}, {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD} }; class PWM { public: PWM(); public: void InitPWM(); void setDuty(uint8_t ch, uint32_t duty); public: static volatile uint8_t SRV_Idx; static volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM]; }; #ifdef __cplusplus extern "C" { void PWM1_IRQHandler(); } #endif #endif //PWM_H_2012_08_28_