Servo module

Automates the use of maximum 8 RC servomotors. More...

Automates the use of maximum 8 RC servomotors.

Servo module uses timer 5.

Example :

/*********************************************************************
 *               servo example for Versa1.0
 *  Output RC servo waveforms to K11 (channel 0) and K12 (channel 1).
 *********************************************************************/
#define BOARD Versa1
#include <fruit.h>
#include <servo.h>
 
//----------- Setup ----------------
void setup(void) {  
    fruitInit();            
    servoInit();        // init servo module
    servoSelect(0,K11); // assign connector K11 to servo channel 0
    servoSelect(1,K12); // assign connector K12 to servo channel 1
}
 
// ---------- Main loop ------------
void loop() {
    fraiseService();// listen to Fraise events
    servoService(); // servo management routine
}
 
// ---------- Interrupts ------------
void highInterrupts()
{
    servoHighInterrupt();
}
 
// ---------- Receiving ------------
void fraiseReceive() // receive raw bytes
{
    unsigned char c=fraiseGetChar();
    if(c==20) servoReceive(); // if first byte is 20, then call servo receive function.
}
 

Initialization
void	servoInit (void)
	Init the module in setup()
#define	servoSelect(num, conn)
	Select a pin for a servo channel. More...

Main loop functions
void	servoService (void)
	Module service routine, to be called by the main loop().

Utilities
void	servoSet (unsigned char num, unsigned int val)
	Set position of a servomotor. More...

Interrupt routine
void	servoHighInterrupt (void)
	Module interrupt routine, must be called by the highInterrupts() user defined function.

Receive function
void	servoReceive ()
	Module receive function, to be called by the fraiseReceive() user defined function. More...
void	servoSetPort (unsigned char num, unsigned char *port, unsigned char mask)
#define	SERVO_SELECT_(num, connport, connbit)

Function Documentation

servoSet()

void servoSet	(	unsigned char	num,
		unsigned int	val
	)

Set position of a servomotor.

Parameters

num	Servomotor channel (0 to 7)
val	New position of this servo, in 8/FOSC steps ; e.g for Versa1, FOSC=64MHz, so servo steps are 1/8 us : 8000 corresponds to 1 ms position.

servoReceive()

void servoReceive

(

)

Module receive function, to be called by the fraiseReceive() user defined function.

The first byte of the message represents the channel (0-7), the 2 next bytes are the 16 bit new position value. If the first byte equals to 254, then the message is for reading a channel position ; the next byte then is the actual channel, and the module sends to the master the current position of this channel.

Macro Definition Documentation

servoSelect

#define servoSelect	(		num,
			conn
	)

Select a pin for a servo channel.

Parameters

num	Servomotor channel (0 to 7)
conn	Symbol of the pin (example : K1 for connector 1)