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<h1>servoconf.h</h1><a href="servoconf_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment">00001 <span class="comment">/*! \file servoconf.h \brief Interrupt-driven RC Servo configuration. */</span>
00002 <span class="comment">//*****************************************************************************</span>
00003 <span class="comment">//</span>
00004 <span class="comment">// File Name : 'servoconf.h'</span>
00005 <span class="comment">// Title : Interrupt-driven RC Servo function library</span>
00006 <span class="comment">// Author : Pascal Stang - Copyright (C) 2002</span>
00007 <span class="comment">// Created : 07/31/2002</span>
00008 <span class="comment">// Revised : 09/30/2002</span>
00009 <span class="comment">// Version : 1.0</span>
00010 <span class="comment">// Target MCU : Atmel AVR Series</span>
00011 <span class="comment">// Editor Tabs : 4</span>
00012 <span class="comment">//</span>
00013 <span class="comment">// NOTE: you need the latest version (3.2+) of the AVR-GCC compiler to use this</span>
00014 <span class="comment">// function library. Download it from http://www.avrfreaks.net/AVRGCC</span>
00015 <span class="comment">//</span>
00016 <span class="comment">// Description : This code allows you to drive up to 8 RC servos from any</span>
00017 <span class="comment">// combination of ports and pins on the AVR processor. Using interrupts,</span>
00018 <span class="comment">// this code continuously sends control signals to the servo to maintain</span>
00019 <span class="comment">// position even while your code is doing other work.</span>
00020 <span class="comment">//</span>
00021 <span class="comment">// The servoInit and servoOff effectively turn on and turn off servo</span>
00022 <span class="comment">// control. When you run ServoInit, it automatically assigns each</span>
00023 <span class="comment">// "channel" of servo control to be output on the SERVO_DEFAULT_PORT.</span>
00024 <span class="comment">// One "channel" of servo control can control one servo and must be</span>
00025 <span class="comment">// assigned single I/O pin for output.</span>
00026 <span class="comment">//</span>
00027 <span class="comment">// If you're using all eight channels (SERVO_NUM_CHANNELS = 8), then</span>
00028 <span class="comment">// then by default the code will use SERVO_DEFAULT_PORT pins 0-7.</span>
00029 <span class="comment">// If you're only using four channels, then pins 0-3 will be used by</span>
00030 <span class="comment">// default.</span>
00031 <span class="comment">//</span>
00032 <span class="comment">// The command servoSetChannelIO(channel, port, pin) allows you to</span>
00033 <span class="comment">// reassign the output of any channel to any port and I/O pin you</span>
00034 <span class="comment">// choose. For exampe, if you have an RC servo connected to PORTC, pin 6,</span>
00035 <span class="comment">// and you wish to use channel 2 to control it, use:</span>
00036 <span class="comment">//</span>
00037 <span class="comment">// servoSerChannelIO( 2, _SFR_IO_ADDR(PORTC), 6)</span>
00038 <span class="comment">//</span>
00039 <span class="comment">// (NOTE: you must include the "_SRF_IO_ADDR()" part around your port)</span>
00040 <span class="comment">//</span>
00041 <span class="comment">// The servoSetPostion and servoGetPosition commands allow you to command</span>
00042 <span class="comment">// a given servo to your desired position. The position you request must</span>
00043 <span class="comment">// lie between the SERVO_MIN and SERVO_MAX limit you defined.</span>
00044 <span class="comment">//</span>
00045 <span class="comment">// This code is distributed under the GNU Public License</span>
00046 <span class="comment">// which can be found at http://www.gnu.org/licenses/gpl.txt</span>
00047 <span class="comment">//</span>
00048 <span class="comment">//*****************************************************************************</span>
00049
00050 <span class="preprocessor">#ifndef SERVOCONF_H</span>
00051 <span class="preprocessor"></span><span class="preprocessor">#define SERVOCONF_H</span>
00052 <span class="preprocessor"></span>
00053 <span class="comment">// set number of servo channels (1 to 8)</span>
00054 <span class="comment">// This is the number of servos you would like to drive</span>
00055 <span class="comment">// Each "Channel" can control one servo and by default will</span>
00056 <span class="comment">// map directly to the port pin of the same number on the</span>
00057 <span class="comment">// SERVO_DEFAULT_PORT. You can change this default port/pin</span>
00058 <span class="comment">// assignment for a given channel to any port/pin you like.</span>
00059 <span class="comment">// See the "servoSetChannelIO" function.</span>
00060 <span class="preprocessor">#define SERVO_NUM_CHANNELS 4</span>
00061 <span class="preprocessor"></span><span class="comment">// set default SERVO output port</span>
00062 <span class="comment">// This is the AVR port which you have connected to your servos </span>
00063 <span class="comment">// See top of file for how servo "channels" map to port pins</span>
00064 <span class="preprocessor">#define SERVO_DEFAULT_PORT PORTB</span>
00065 <span class="preprocessor"></span><span class="comment">// set servo characteristics (min and max raw position)</span>
00066 <span class="comment">// You must find these by testing using your brand/type of servos.</span>
00067 <span class="comment">// The min/max settings will change proportional to F_CPU, the CPU</span>
00068 <span class="comment">// clock frequency.</span>
00069 <span class="comment">// The numbers below good for parallax servos at an F_CPU of ~8MHz.</span>
00070 <span class="comment">//#define SERVO_MAX 71</span>
00071 <span class="comment">//#define SERVO_MIN 17</span>
00072 <span class="comment">// The numbers below good for parallax servos at an F_CPU of ~14.745MHz.</span>
00073 <span class="preprocessor">#define SERVO_MAX 138</span>
00074 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_MIN 34</span>
00075 <span class="preprocessor"></span>
00076 <span class="comment">// set servo scaled range</span>
00077 <span class="comment">// This sets the scaled position range of the servo. Allowed scaled</span>
00078 <span class="comment">// positions are 0 -> SERVO_POSITION_MAX, and correspond to raw</span>
00079 <span class="comment">// positions of SERVO_MIN -> SERVO_MAX.</span>
00080 <span class="preprocessor">#define SERVO_POSITION_MAX 255</span>
00081 <span class="preprocessor"></span>
00082 <span class="preprocessor">#endif</span>
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