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47 lines
998 B
C
47 lines
998 B
C
/*
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* Copyright (C) 2014 Freie Universität Berlin
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*
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* This file is subject to the terms and conditions of the GNU Lesser General
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* Public License v2.1. See the file LICENSE in the top level directory for more
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* details.
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*/
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/**
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* @ingroup driver_servo
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* @{
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*
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* @file
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* @brief Servo motor driver implementation
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*
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* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
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*
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* @}
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*/
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#include "servo.h"
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#include "periph/pwm.h"
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#define FREQUENCY (100U)
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#define RESOLUTION (10000U)
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int servo_init(servo_t *dev, pwm_t pwm, int pwm_channel, unsigned int min, unsigned int max)
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{
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dev->device = pwm;
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dev->channel = pwm_channel;
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dev->min = min;
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dev->max = max;
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return pwm_init(dev->device, PWM_LEFT, FREQUENCY, RESOLUTION);
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}
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int servo_set(servo_t *dev, unsigned int pos)
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{
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if (pos > dev->max) {
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pos = dev->max;
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}
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else if (pos < dev->min) {
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pos = dev->min;
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}
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return pwm_set(dev->device, dev->channel, pos);
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}
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