00001 /*! \file servoconf.h \brief Interrupt-driven RC Servo configuration. */ 00002 //***************************************************************************** 00003 // 00004 // File Name : 'servoconf.h' 00005 // Title : Interrupt-driven RC Servo function library 00006 // Author : Pascal Stang - Copyright (C) 2002 00007 // Created : 07/31/2002 00008 // Revised : 09/30/2002 00009 // Version : 1.0 00010 // Target MCU : Atmel AVR Series 00011 // Editor Tabs : 4 00012 // 00013 // NOTE: you need the latest version (3.2+) of the AVR-GCC compiler to use this 00014 // function library. Download it from http://www.avrfreaks.net/AVRGCC 00015 // 00016 // Description : This code allows you to drive up to 8 RC servos from any 00017 // combination of ports and pins on the AVR processor. Using interrupts, 00018 // this code continuously sends control signals to the servo to maintain 00019 // position even while your code is doing other work. 00020 // 00021 // The servoInit and servoOff effectively turn on and turn off servo 00022 // control. When you run ServoInit, it automatically assigns each 00023 // "channel" of servo control to be output on the SERVO_DEFAULT_PORT. 00024 // One "channel" of servo control can control one servo and must be 00025 // assigned single I/O pin for output. 00026 // 00027 // If you're using all eight channels (SERVO_NUM_CHANNELS = 8), then 00028 // then by default the code will use SERVO_DEFAULT_PORT pins 0-7. 00029 // If you're only using four channels, then pins 0-3 will be used by 00030 // default. 00031 // 00032 // The command servoSetChannelIO(channel, port, pin) allows you to 00033 // reassign the output of any channel to any port and I/O pin you 00034 // choose. For exampe, if you have an RC servo connected to PORTC, pin 6, 00035 // and you wish to use channel 2 to control it, use: 00036 // 00037 // servoSerChannelIO( 2, _SFR_IO_ADDR(PORTC), 6) 00038 // 00039 // (NOTE: you must include the "_SRF_IO_ADDR()" part around your port) 00040 // 00041 // The servoSetPostion and servoGetPosition commands allow you to command 00042 // a given servo to your desired position. The position you request must 00043 // lie between the SERVO_MIN and SERVO_MAX limit you defined. 00044 // 00045 // This code is distributed under the GNU Public License 00046 // which can be found at http://www.gnu.org/licenses/gpl.txt 00047 // 00048 //***************************************************************************** 00049 00050 #ifndef SERVOCONF_H 00051 #define SERVOCONF_H 00052 00053 // set number of servo channels (1 to 8) 00054 // This is the number of servos you would like to drive 00055 // Each "Channel" can control one servo and by default will 00056 // map directly to the port pin of the same number on the 00057 // SERVO_DEFAULT_PORT. You can change this default port/pin 00058 // assignment for a given channel to any port/pin you like. 00059 // See the "servoSetChannelIO" function. 00060 #define SERVO_NUM_CHANNELS 4 00061 // set default SERVO output port 00062 // This is the AVR port which you have connected to your servos 00063 // See top of file for how servo "channels" map to port pins 00064 #define SERVO_DEFAULT_PORT PORTB 00065 // set servo characteristics (min and max raw position) 00066 // You must find these by testing using your brand/type of servos. 00067 // The min/max settings will change proportional to F_CPU, the CPU 00068 // clock frequency. 00069 // The numbers below good for parallax servos at an F_CPU of ~8MHz. 00070 //#define SERVO_MAX 71 00071 //#define SERVO_MIN 17 00072 // The numbers below good for parallax servos at an F_CPU of ~14.745MHz. 00073 #define SERVO_MAX 138 00074 #define SERVO_MIN 34 00075 00076 // set servo scaled range 00077 // This sets the scaled position range of the servo. Allowed scaled 00078 // positions are 0 -> SERVO_POSITION_MAX, and correspond to raw 00079 // positions of SERVO_MIN -> SERVO_MAX. 00080 #define SERVO_POSITION_MAX 255 00081 00082 #endif