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Diffstat (limited to 'digital/avr/modules/devices/servo/servo_pos.c')
-rw-r--r--digital/avr/modules/devices/servo/servo_pos.c60
1 files changed, 60 insertions, 0 deletions
diff --git a/digital/avr/modules/devices/servo/servo_pos.c b/digital/avr/modules/devices/servo/servo_pos.c
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+++ b/digital/avr/modules/devices/servo/servo_pos.c
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+/* servo_pos.c */
+/* avr.devices.servo - Servo AVR module. {{{
+ *
+ * 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_position (servo_id, servo_pos_high_time[servo_id][position]);
+}