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