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SERVO_OFFSET deleted, SERVO_MIN added

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This commit is contained in:
David Rabel 2015-04-03 15:55:00 +02:00
parent 41163406c2
commit 29e62c4e20
1 changed files with 10 additions and 8 deletions
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18
platform/osd-merkur/dev/servo.c
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@ -52,9 +52,9 @@
* servo device * servo device
*/ */
#define SERVO_OFFSET 1000 #define SERVO_MIN 575
#define SERVO_MAX 1000 #define SERVO_MAX 2425
#define SERVO_INIT 500 #define SERVO_INIT 1500
unsigned int servoa=SERVO_INIT; unsigned int servoa=SERVO_INIT;
unsigned int servob=SERVO_INIT; unsigned int servob=SERVO_INIT;
@ -97,10 +97,10 @@ servo_init(void)
ICR3L=0x20; ICR3L=0x20;
// OCR3A will govern the steering servo, OCR3B will govern throttle // OCR3A will govern the steering servo, OCR3B will govern throttle
OCR3A = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range OCR3A = servoa; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// OCR3A will govern the steering servo, OCR3B will govern throttle // OCR3A will govern the steering servo, OCR3B will govern throttle
OCR3B = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range OCR3B = servob; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// start with motor off - no duty cycle at all // start with motor off - no duty cycle at all
OCR3CH=0x00; OCR3CH=0x00;
OCR3CL=0x00; OCR3CL=0x00;
@ -135,18 +135,20 @@ unsigned int
servo_set(unsigned i,unsigned int j) servo_set(unsigned i,unsigned int j)
{ {
if(j > SERVO_MAX) if(j > SERVO_MAX)
j=SERVO_MAX; j=SERVO_MAX;
if(j < SERVO_MIN)
j=SERVO_MIN;
if(i==0) if(i==0)
{ {
servoa=j; servoa=j;
OCR3A = SERVO_OFFSET + servoa; OCR3A = servoa;
return 1; return 1;
} }
if(i==1) if(i==1)
{ {
servob=j; servob=j;
OCR3A = SERVO_OFFSET + servob; OCR3B = servob;
return 1; return 1;
} }