/* 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]); }