osd-contiki/examples/zolertia/zoul/test-servo.c
2016-08-24 14:27:41 +02:00

107 lines
3.9 KiB
C

/*
* Copyright (c) 2016, Zolertia - http://www.zolertia.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
* OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \addtogroup zoul-examples
* @{
*
* \defgroup zoul-servo-test Test the EMAX ES08A II servo motor
*
* Demonstrates the use of the EMAX ES08A servo motor. This servo requires a
* +5V voltage, it can be powered from D+5.1 pin (of the ADC3 connector), but
* it requires either an external power supply other than the USB for programing
* or it can be powered by the USB 2.0 connector, which allows a higher current
* draw.
*
* This test uses the default servo values (freq 50Hz, traveling time 1.5-1.9ms)
* for 0-180º movement, tested with the EMAX ES08A. Depending on the servo used
* you might need to adjust these parameters in the servo.h header file.
*
* @{
*
* \file
* A quick program for testing a servo motor
* \author
* Antonio Lignan <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#include "contiki.h"
#include "dev/leds.h"
#include "dev/servo.h"
#include <stdio.h>
#include <stdint.h>
/*---------------------------------------------------------------------------*/
#define DEBUG 1
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/*---------------------------------------------------------------------------*/
static struct etimer et;
/*---------------------------------------------------------------------------*/
PROCESS(servo_test_process, "Zolertia servo test process");
AUTOSTART_PROCESSES(&servo_test_process);
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(servo_test_process, ev, data)
{
PROCESS_BEGIN();
static uint8_t deg = 0;
PRINTF("\nStarting the test\n");
while(1) {
servo_position(SERVO_CHANNEL_5, GPIO_A_NUM, 5, deg);
PRINTF("Current position --> %03uº\n", deg);
etimer_set(&et, CLOCK_SECOND / 2);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
/* Increase the position by 10º each iteration */
deg += 10;
if(deg > SERVO_MAX_DEGREES) {
deg = 0;
servo_stop(SERVO_CHANNEL_5, GPIO_A_NUM, 5);
/* Stop the servo and wait 2 seconds before resuming from start */
etimer_set(&et, CLOCK_SECOND * 2);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
}
}
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
/**
* @}
* @}
*/