summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/servo.h
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/servo.h')
-rw-r--r--digital/io/src/servo.h96
1 files changed, 0 insertions, 96 deletions
diff --git a/digital/io/src/servo.h b/digital/io/src/servo.h
deleted file mode 100644
index b9f7e3ea..00000000
--- a/digital/io/src/servo.h
+++ /dev/null
@@ -1,96 +0,0 @@
-#ifndef servo_h
-#define servo_h
-/* servo.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2008 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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 2 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, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * }}} */
-
-#include "common.h" // uint8_t
-
-/**
- * @file Module to control servo motors.
- * This module contains low-level functions to control the servo motors. If
- * you want to control the traps to store the balls at a specific place, have
- * a look at the trap module.
- * It uses the timer/counter 2 (8-bit).
- *
- * Servo motors can be controlled by the time the input signal spend at its
- * high state. For example, if the signal sent to the servo motor only spend
- * 1ms at the high state, it will have a 0° angle position. If the signal
- * stays for 1.5ms at high state, it will have a 90° angle position.
- * To manage all servo motors in a "one time shot", we need to use the
- * timer/counter 2 of the ATmega128 and its overflow.
- * We setup the timer/counter to the value of its overflow minus the time the
- * input signal of the servo need to spend at high state ; we put the input
- * signal of this servo motor to the high value. When the timer overflows, we
- * put it back to the low state. We go to the next servo motors and do the
- * same algorithm. When the all servos motor have been taken care of, we
- * set-up the timer to overflow a certain number of times to wait before
- * restarting the whole cycle.
- *
- * All servos are connected to the PORTA of the ATmega.
- */
-
-/**
- * Number of servos motor managed by this module.
- * If you change it, you _must_ update the key of the eeprom module!
- */
-#define SERVO_NUMBER 8
-
-/**
- * Minimum high time for servos.
- */
-#define SERVO_HIGH_TIME_MIN 0x24
-
-/**
- * Maximum high time for servos.
- */
-#define SERVO_HIGH_TIME_MAX 0x88
-
-/**
- * Initialize servo module.
- * This functions put the pins of the servos motor in the right direction,
- * initialize the timer/counter 2 and some internals stuff.
- */
-void
-servo_init (void);
-
-/**
- * Set the high time of the input signal of a servo (and its position).
- * @param servo the servo to change the position.
- * @param high_time the high time we want the input signal to spend at the
- * high state to set the servo motor to a position. A zero will let the servo
- * floating.
- */
-void
-servo_set_high_time (uint8_t servo, uint8_t high_time);
-
-/**
- * Get the high time of the servo.
- * @param servo the servo to get the position of.
- * @return the current position of the servo.
- */
-uint8_t
-servo_get_high_time (uint8_t servo);
-
-#endif /* servo_h */