library

//*****************************************************************************
// File Name    : servotest.c
// 
// Title                : example usage of RC servo library functions
// Revision             : 1.0
// Notes                :       
// Target MCU   : Atmel AVR series
// Editor Tabs  : 4
// 
// Revision History:
// When                 Who                     Description of change
// -----------  -----------     -----------------------
// 10-Sep-2002  pstang          Created the program
//*****************************************************************************


//----- Include Files ---------------------------------------------------------
#include <avr/io.h>             // include I/O definitions (port names, pin names, etc)
#include <avr/interrupt.h>      // include interrupt support

#include "global.h"             // include our global settings
#include "uart.h"               // include uart function library
#include "rprintf.h"    // include printf function library
#include "a2d.h"                // include A/D converter function library
#include "timer.h"              // include timer function library (timing, PWM, etc)
#include "servo.h"              // include RC servo driver library
#include "vt100.h"              // include VT100 terminal library

void servoTest(void);

//----- Begin Code ------------------------------------------------------------
int main(void)
{
        // initialize our libraries
        // initialize the UART (serial port)
        uartInit();
        // set the baud rate of the UART for our debug/reporting output
        uartSetBaudRate(9600);
        // set uartSendByte as the output for all rprintf statements
        rprintfInit(uartSendByte);
        // initialize the timer system
        timerInit();
        // initialize vt100 library
        vt100Init();
        vt100ClearScreen();
        // print a little intro message so we know things are working
        rprintf("\r\nWelcome to Servo Test!\r\n");

        // begin servo test
        servoTest();

        return 0;
}

void servoTest(void)
{
        u08 pos;
        u08 channel;

        // do some examples
        // initialize RC servo system
        servoInit();
        // setup servo output channel-to-I/Opin mapping
        // format is servoSetChannelIO( CHANNEL#, PORT, PIN );
        servoSetChannelIO(0, _SFR_IO_ADDR(PORTC), PC0);
        servoSetChannelIO(1, _SFR_IO_ADDR(PORTC), PC1);
        servoSetChannelIO(2, _SFR_IO_ADDR(PORTC), PC2);
        servoSetChannelIO(3, _SFR_IO_ADDR(PORTC), PC3);

        // set port pins to output
        outb(DDRC, 0x0F);

        pos = 0;

#define SPEED_SERVO     1

        // spin servos sequentially back and forth between their limits
        while(1)
        {
                for(channel=0; channel<SERVO_NUM_CHANNELS; channel++)
                {
                        for(pos=0; pos<SERVO_POSITION_MAX; pos++)
                        {
                                servoSetPosition(channel,pos);
                                timerPause(SPEED_SERVO);
                        }
                }

                for(channel=0; channel<SERVO_NUM_CHANNELS; channel++)
                {
                        for(pos=SERVO_POSITION_MAX; pos>=1; pos--)
                        {
                                servoSetPosition(channel,pos);
                                timerPause(SPEED_SERVO);
                        }
                }
        }
}