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feeding 6 servos - switched to us resolution

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This commit is contained in:
Antoine Drouin
2010-07-16 23:55:09 +00:00
parent da947808c0
commit 8091b9b072
1 changed files with 17 additions and 3 deletions
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sw/airborne/lisa/test_servos.c
+17 -3
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@@ -47,15 +47,29 @@ static inline void main_init( void ) {
}
static inline void main_periodic( void ) {
// static float foo = 0.;
// foo += 0.001;
// int32_t bar = 9600. * sin(foo);
static float foo = 0.;
foo += 0.0025;
int32_t bar = 1500 + 500. * sin(foo);
booz_actuators_pwm_values[0] = bar;
booz_actuators_pwm_values[1] = bar;
booz_actuators_pwm_values[2] = bar;
booz_actuators_pwm_values[3] = bar;
booz_actuators_pwm_values[4] = bar;
booz_actuators_pwm_values[5] = bar;
#if 0
static int32_t foo = 10;
static int32_t bar = 0;
bar += foo;
if (bar > 9600) { foo = -foo; bar = 9600;}
if (bar < -9600) { foo = -foo; bar = -9600;}
booz_actuators_pwm_values[0] = 3375 + bar * 1125 / 9600;
booz_actuators_pwm_values[1] = 3375 + bar * 1125 / 9600;
booz_actuators_pwm_values[2] = 3375 + bar * 1125 / 9600;
booz_actuators_pwm_values[3] = 3375 + bar * 1125 / 9600;
booz_actuators_pwm_values[4] = 3375 + bar * 1125 / 9600;
booz_actuators_pwm_values[5] = 3375 + bar * 1125 / 9600;
#endif
booz_actuators_pwm_commit();
LED_PERIODIC();