From 2700442e8ecb331844687e349f5b20162a008b27 Mon Sep 17 00:00:00 2001 From: Maxime Hadjinlian Date: Sun, 29 May 2011 14:20:56 +0200 Subject: digital/avr/module: add module servo from digital/io/src --- digital/io/src/simu.host.c | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) (limited to 'digital/io/src/simu.host.c') 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 -- cgit v1.2.3