fb11e647
 vrobic
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/*
* Copyright (C) 2015 Eistec AB
*
* This file is subject to the terms and conditions of the GNU Lesser General
* Public License v2.1. See the file LICENSE in the top level directory for more
* details.
*/
/**
* @ingroup tests
* @{
*
* @file
* @brief Test for servo driver
*
* This test initializes the given servo device and moves it between
* 1.000 -- 2.000 ms, roughly -/+ 90 degrees from the middle position if the
* connected servo is a standard RC servo.
*
* @author Joakim Nohlgård <joakim.nohlgard@eistec.se>
*
* @}
*/
#include <stdio.h>
#include "cpu.h"
#include "board.h"
#include "xtimer.h"
#include "periph/pwm.h"
#include "servo.h"
#define DEV PWM_DEV(0)
#define CHANNEL 0
#define SERVO_MIN (1000U)
#define SERVO_MAX (2000U)
/* these are defined outside the limits of the servo_init min/max parameters above */
/* we will test the clamping functionality of the servo_set function. */
#define STEP_LOWER_BOUND (900U)
#define STEP_UPPER_BOUND (2100U)
/* Step size that we move per WAIT us */
#define STEP (10U)
/* Sleep time between updates, no need to update the servo position more than
* once per cycle */
#define WAIT (10000U)
static servo_t servo;
int main(void)
{
int res;
int pos = (STEP_LOWER_BOUND + STEP_UPPER_BOUND) / 2;
int step = STEP;
puts("\nRIOT RC servo test");
puts("Connect an RC servo or scope to PWM_0 channel 0 to see anything");
res = servo_init(&servo, DEV, CHANNEL, SERVO_MIN, SERVO_MAX);
if (res < 0) {
puts("Errors while initializing servo");
return -1;
}
puts("Servo initialized.");
while (1) {
servo_set(&servo, pos);
pos += step;
if (pos <= STEP_LOWER_BOUND || pos >= STEP_UPPER_BOUND) {
step = -step;
}
xtimer_usleep(WAIT);
}
return 0;
}
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