C:/Milton/UA/Humanoid/Lab/Fase3_Integration/v3/Slave_Stable1.02/servo.h File Reference

#include "global.h"

Data Structures

struct  struct_velocity
struct  struct_pwmServo

Defines

#define VPOT_IMPULSE_LIMIAR   50
#define DUTY_MIN   890
#define DUTY_MAX   1920
#define SERVO_RANGE   90
#define SERVO_RES   180
#define SERVO1_PIN   PORTBbits.RB4
#define SERVO2_PIN   PORTBbits.RB5
#define SERVO3_PIN   PORTBbits.RB6
#define N_POS   10
#define ANGLE_FACTOR   100
#define SLOPE   9
#define QUOCIENT   50
#define ORIGIN   236
#define POS(volt)   (ORIGIN - (signed int) ((word) (volt)*SLOPE/QUOCIENT));

Functions

void initServoData (void)
void servoPos (signed char position, byte srv)
void controller (void)

Variables

volatile struct_velocity velocityServo [N_SERVOS]
volatile struct_pwmServo pwmServo [N_SERVOS]

Define Documentation

#define ANGLE_FACTOR   100
 

#define DUTY_MAX   1920
 

#define DUTY_MIN   890
 

#define N_POS   10
 

#define ORIGIN   236
 

#define POS volt   )     (ORIGIN - (signed int) ((word) (volt)*SLOPE/QUOCIENT));
 

#define QUOCIENT   50
 

#define SERVO1_PIN   PORTBbits.RB4
 

#define SERVO2_PIN   PORTBbits.RB5
 

#define SERVO3_PIN   PORTBbits.RB6
 

#define SERVO_RANGE   90
 

#define SERVO_RES   180
 

#define SLOPE   9
 

#define VPOT_IMPULSE_LIMIAR   50
 


Function Documentation

void controller void   ) 
 

void initServoData void   ) 
 

void servoPos signed char  position,
byte  srv
 


Variable Documentation

volatile struct_pwmServo pwmServo[N_SERVOS]
 

volatile struct_velocity velocityServo[N_SERVOS]
 


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