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40 lines
1.4 KiB
C
40 lines
1.4 KiB
C
/*
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* This file is part of the servo project.
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* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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// Default starting values
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// minimal and maximal pulse length for SG90
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#define SG90_MINPULSE 400
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#define SG90_MAXPULSE 2600
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#define SG90_MIDPULSE ((SG90_MINPULSE+SG90_MAXPULSE)/2)
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#define SG90_AMPL (SG90_MAXPULSE-SG90_MINPULSE)
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// maximal speed: 0.1s (5 ticks) per 60degr (1/3 of range): (SG90_AMPL/15)
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#define SG90_MAXSPEED 93
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// Limiting values
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#define SERVO_MINPULSE 100
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#define SERVO_MAXPULSE 5000
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#define SERVO_MAXSPEED 300
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void process_servo();
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bool servo_set_speed(uint8_t N, uint16_t s);
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bool servo_get_speed(uint8_t N, uint16_t *s);
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bool servo_set_tagpos(uint8_t N, uint16_t pos);
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bool servo_get_tagpos(uint8_t N, uint16_t *pos);
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