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Diffstat (limited to 'digital/io/src/simu.host.c')
-rw-r--r--digital/io/src/simu.host.c26
1 files changed, 13 insertions, 13 deletions
diff --git a/digital/io/src/simu.host.c b/digital/io/src/simu.host.c
index f1b7e0d2..a35b9d12 100644
--- a/digital/io/src/simu.host.c
+++ b/digital/io/src/simu.host.c
@@ -25,7 +25,7 @@
#include "common.h"
#include "simu.host.h"
-#include "servo.h"
+#include "modules/devices/servo/servo.h"
#include "pwm.h"
#include "modules/utils/utils.h"
@@ -36,10 +36,10 @@
#include "io.h"
/** Requested servo position. */
-uint8_t servo_high_time_[SERVO_NUMBER];
+uint8_t servo_position_[SERVO_NUMBER];
/** Current servo position. */
-uint8_t servo_high_time_current_[SERVO_NUMBER];
+uint8_t servo_position_current_[SERVO_NUMBER];
/** Servo speed is about 120 ms for 60 degrees. This means about 360 ms for
* the full swing. */
@@ -112,13 +112,13 @@ simu_step (void)
/* Update servos. */
for (i = 0; i < SERVO_NUMBER; i++)
{
- if (UTILS_ABS (servo_high_time_current_[i] - servo_high_time_[i]) <
+ if (UTILS_ABS (servo_position_current_[i] - servo_position_[i]) <
SERVO_SPEED)
- servo_high_time_current_[i] = servo_high_time_[i];
- else if (servo_high_time_current_[i] < servo_high_time_[i])
- servo_high_time_current_[i] += SERVO_SPEED;
+ servo_position_current_[i] = servo_position_[i];
+ else if (servo_position_current_[i] < servo_position_[i])
+ servo_position_current_[i] += SERVO_SPEED;
else
- servo_high_time_current_[i] -= SERVO_SPEED;
+ servo_position_current_[i] -= SERVO_SPEED;
}
/* Send servos. */
if (simu_servo_update && !--simu_servo_update_cpt)
@@ -126,7 +126,7 @@ simu_step (void)
simu_servo_update_cpt = simu_servo_update;
m = mex_msg_new (simu_mex_servo);
for (i = 0; i < SERVO_NUMBER; i++)
- mex_msg_push (m, "B", servo_high_time_current_[i]);
+ mex_msg_push (m, "B", servo_position_current_[i]);
mex_node_send (m);
}
/* Update switches. */
@@ -180,15 +180,15 @@ servo_init (void)
}
void
-servo_set_high_time (uint8_t servo, uint8_t high_time)
+servo_set_position (uint8_t servo, uint8_t position)
{
- servo_high_time_[servo] = high_time;
+ servo_position_[servo] = position;
}
uint8_t
-servo_get_high_time (uint8_t servo)
+servo_get_position (uint8_t servo)
{
- return servo_high_time_[servo];
+ return servo_position_[servo];
}
void