From 73c73c4a2c56ce76299c7a0631d4e1c3bae9b720 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Fri, 8 May 2009 17:17:44 +0200 Subject: * digital/io: - remove the old trap module (for the position of the servo motors), - add a new module for the position of the servo motors, - increase number of servo motors supported, - new version of eeprom data structure. --- digital/io/src/servo_pos.c | 60 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 60 insertions(+) create mode 100644 digital/io/src/servo_pos.c (limited to 'digital/io/src/servo_pos.c') diff --git a/digital/io/src/servo_pos.c b/digital/io/src/servo_pos.c new file mode 100644 index 00000000..d04077fd --- /dev/null +++ b/digital/io/src/servo_pos.c @@ -0,0 +1,60 @@ +/* servo_pos.c */ +/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ + * + * Copyright (C) 2009 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 "servo_pos.h" + +uint8_t servo_pos_high_time[SERVO_NUMBER][SERVO_POS_NUMBER]; + +void +servo_pos_init (void) +{ + /* Initialize under layer, servo module. */ + servo_init (); +} + +void +servo_pos_set_high_time (uint8_t servo_id, + uint8_t high_times[SERVO_POS_NUMBER]) +{ + uint8_t i; + /* If servo exists. */ + if (servo_id < SERVO_NUMBER) + { + /* For each position. */ + for (i = 0; i < SERVO_POS_NUMBER; i++) + servo_pos_high_time[servo_id][i] = high_times[i]; + } +} + +/** + * Move a servo to a specific position. + * @param servo_id the id of the servo to move. + * @param position the position identifier where to move the servo. + */ +void +servo_pos_move_to (uint8_t servo_id, uint8_t position) +{ + servo_set_high_time (servo_id, servo_pos_high_time[servo_id][position]); +} -- cgit v1.2.3