From 699c932c4a5e25d95b46095440c54dc6a274e387 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Wed, 16 May 2012 17:05:59 +0200 Subject: digital/beacon: add servo wave scanning --- digital/beacon/src/servo.h | 9 +++++++++ 1 file changed, 9 insertions(+) (limited to 'digital/beacon/src/servo.h') diff --git a/digital/beacon/src/servo.h b/digital/beacon/src/servo.h index f36e1742..131f3075 100644 --- a/digital/beacon/src/servo.h +++ b/digital/beacon/src/servo.h @@ -95,4 +95,13 @@ int8_t servo_get_scanning_sense(TServo_ID servo_id); /* This function inverses the scanning sense of the servo */ void servo_inverse_scanning_sense(TServo_ID servo_id); +/* This function generates a wave scanning */ +void servo_waveform_scanning(TServo_ID servo_id, uint8_t average_value); + +/* Wave Task */ +void servo_wave_task(void); + +/* Start wave task */ +void servo_start_wave_task(void); + #endif -- cgit v1.2.3 From 8b1d462ca24afa1cda50ed994856fcc644c4cc00 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Wed, 16 May 2012 17:06:24 +0200 Subject: digital/beacon: add defines for wave scanning --- digital/beacon/src/servo.h | 2 ++ 1 file changed, 2 insertions(+) (limited to 'digital/beacon/src/servo.h') diff --git a/digital/beacon/src/servo.h b/digital/beacon/src/servo.h index 131f3075..0eb5228b 100644 --- a/digital/beacon/src/servo.h +++ b/digital/beacon/src/servo.h @@ -29,6 +29,8 @@ #define SERVO_ANGLE_MIN 69 #define SERVO_ANGLE_MAX 254 +#define WAVE_TASK_PERIOD 15L +#define SERVO_WAVE_OFFSET (uint16_t)6 #define SERVO_1_ANGLE_POSITION 0 #define SERVO_2_ANGLE_POSITION 270 #define SERVO_ANGLE_POSITION_TOLERANCE 20 -- cgit v1.2.3 From 101b15e4721f6a6579771445ee4ade7647f1d5b8 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Wed, 16 May 2012 17:06:57 +0200 Subject: digital/beacon: decrease calibration servo angle tolerance --- digital/beacon/src/servo.h | 1 + 1 file changed, 1 insertion(+) (limited to 'digital/beacon/src/servo.h') diff --git a/digital/beacon/src/servo.h b/digital/beacon/src/servo.h index 0eb5228b..fa437c36 100644 --- a/digital/beacon/src/servo.h +++ b/digital/beacon/src/servo.h @@ -29,6 +29,7 @@ #define SERVO_ANGLE_MIN 69 #define SERVO_ANGLE_MAX 254 +#define SERVO_ANGLE_POSITION_TOLERANCE 5 #define WAVE_TASK_PERIOD 15L #define SERVO_WAVE_OFFSET (uint16_t)6 #define SERVO_1_ANGLE_POSITION 0 -- cgit v1.2.3 From 63cb73a6ee91deb2ca0f1458595eb45bc172632e Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Wed, 16 May 2012 17:07:37 +0200 Subject: digital/beacon: modify SERVO_2 angle position according to the beacon number (and fix double define) --- digital/beacon/src/servo.h | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) (limited to 'digital/beacon/src/servo.h') diff --git a/digital/beacon/src/servo.h b/digital/beacon/src/servo.h index fa437c36..7066643c 100644 --- a/digital/beacon/src/servo.h +++ b/digital/beacon/src/servo.h @@ -30,11 +30,17 @@ #define SERVO_ANGLE_MAX 254 #define SERVO_ANGLE_POSITION_TOLERANCE 5 + #define WAVE_TASK_PERIOD 15L #define SERVO_WAVE_OFFSET (uint16_t)6 + + #define SERVO_1_ANGLE_POSITION 0 +#ifdef LOL_NUMBER_3 #define SERVO_2_ANGLE_POSITION 270 -#define SERVO_ANGLE_POSITION_TOLERANCE 20 +#else +#define SERVO_2_ANGLE_POSITION 90 +#endif #define RISING 1 -- cgit v1.2.3