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| 1 | 6 | kaklik | /*! \file servoconf.h \brief Interrupt-driven RC Servo configuration. */ |
| 2 | //***************************************************************************** |
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| 3 | // |
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| 4 | // File Name : 'servoconf.h' |
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| 5 | // Title : Interrupt-driven RC Servo function library |
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| 6 | // Author : Pascal Stang - Copyright (C) 2002 |
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| 7 | // Created : 07/31/2002 |
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| 8 | // Revised : 09/30/2002 |
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| 9 | // Version : 1.0 |
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| 10 | // Target MCU : Atmel AVR Series |
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| 11 | // Editor Tabs : 4 |
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| 12 | // |
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| 13 | // NOTE: you need the latest version (3.2+) of the AVR-GCC compiler to use this |
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| 14 | // function library. Download it from http://www.avrfreaks.net/AVRGCC |
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| 15 | // |
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| 16 | // Description : This code allows you to drive up to 8 RC servos from any |
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| 17 | // combination of ports and pins on the AVR processor. Using interrupts, |
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| 18 | // this code continuously sends control signals to the servo to maintain |
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| 19 | // position even while your code is doing other work. |
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| 20 | // |
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| 21 | // The servoInit and servoOff effectively turn on and turn off servo |
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| 22 | // control. When you run ServoInit, it automatically assigns each |
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| 23 | // "channel" of servo control to be output on the SERVO_DEFAULT_PORT. |
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| 24 | // One "channel" of servo control can control one servo and must be |
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| 25 | // assigned single I/O pin for output. |
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| 26 | // |
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| 27 | // If you're using all eight channels (SERVO_NUM_CHANNELS = 8), then |
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| 28 | // then by default the code will use SERVO_DEFAULT_PORT pins 0-7. |
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| 29 | // If you're only using four channels, then pins 0-3 will be used by |
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| 30 | // default. |
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| 31 | // |
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| 32 | // The command servoSetChannelIO(channel, port, pin) allows you to |
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| 33 | // reassign the output of any channel to any port and I/O pin you |
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| 34 | // choose. For exampe, if you have an RC servo connected to PORTC, pin 6, |
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| 35 | // and you wish to use channel 2 to control it, use: |
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| 36 | // |
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| 37 | // servoSerChannelIO( 2, _SFR_IO_ADDR(PORTC), 6) |
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| 38 | // |
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| 39 | // (NOTE: you must include the "_SRF_IO_ADDR()" part around your port) |
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| 40 | // |
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| 41 | // The servoSetPostion and servoGetPosition commands allow you to command |
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| 42 | // a given servo to your desired position. The position you request must |
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| 43 | // lie between the SERVO_MIN and SERVO_MAX limit you defined. |
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| 44 | // |
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| 45 | // This code is distributed under the GNU Public License |
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| 46 | // which can be found at http://www.gnu.org/licenses/gpl.txt |
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| 47 | // |
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| 48 | //***************************************************************************** |
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| 49 | |||
| 50 | #ifndef SERVOCONF_H |
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| 51 | #define SERVOCONF_H |
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| 52 | |||
| 53 | // set number of servo channels (1 to 8) |
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| 54 | // This is the number of servos you would like to drive |
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| 55 | // Each "Channel" can control one servo and by default will |
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| 56 | // map directly to the port pin of the same number on the |
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| 57 | // SERVO_DEFAULT_PORT. You can change this default port/pin |
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| 58 | // assignment for a given channel to any port/pin you like. |
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| 59 | // See the "servoSetChannelIO" function. |
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| 60 | #define SERVO_NUM_CHANNELS 4 |
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| 61 | // set default SERVO output port |
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| 62 | // This is the AVR port which you have connected to your servos |
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| 63 | // See top of file for how servo "channels" map to port pins |
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| 64 | #define SERVO_DEFAULT_PORT PORTB |
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| 65 | // set servo characteristics (min and max raw position) |
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| 66 | // You must find these by testing using your brand/type of servos. |
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| 67 | // The min/max settings will change proportional to F_CPU, the CPU |
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| 68 | // clock frequency. |
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| 69 | // The numbers below good for parallax servos at an F_CPU of ~8MHz. |
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| 70 | //#define SERVO_MAX 71 |
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| 71 | //#define SERVO_MIN 17 |
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| 72 | // The numbers below good for parallax servos at an F_CPU of ~14.745MHz. |
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| 73 | #define SERVO_MAX 138 |
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| 74 | #define SERVO_MIN 34 |
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| 75 | |||
| 76 | // set servo scaled range |
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| 77 | // This sets the scaled position range of the servo. Allowed scaled |
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| 78 | // positions are 0 -> SERVO_POSITION_MAX, and correspond to raw |
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| 79 | // positions of SERVO_MIN -> SERVO_MAX. |
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| 80 | #define SERVO_POSITION_MAX 255 |
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| 81 | |||
| 82 | #endif |
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