1,26 → 1,28 |
#ifndef __SERVO_H__ |
#define __SERVO_H__ |
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#define SERVO_COM1 0 |
#define SERVO_COM2 1 |
#define SERVO_COM3 2 |
#define SERVO_COM4 3 |
#ifndef COM1 |
#define COM1 0 |
#define COM2 1 |
#define COM3 2 |
#define COM4 3 |
#endif |
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int servo_open(int port); |
int servo_close(void); |
int servo_open(int port, int speed); |
int servo_close(int port); |
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/* Setup */ |
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int servo_set_RS232_baudrate(int baud); /* BaudRate */ |
int servo_get_RS232_baudrate(void); |
int servo_store_RS232_baudrate(void); |
int servo_set_RS232_baudrate(int port, int baud); /* BaudRate */ |
int servo_get_RS232_baudrate(int port); |
int servo_store_RS232_baudrate(int port); |
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int servo_set_period(int period); /* Servo period in us */ |
int servo_get_period(void); |
int servo_store_period(void); |
int servo_set_period(int port, int period); /* Servo period in us */ |
int servo_get_period(int port); |
int servo_store_period(int port); |
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int servo_get_setup_switch(void); /* RC0 RC1 RC2 */ |
int servo_set_RC5_switch(int data); |
int servo_get_setup_switch(int port); /* RC0 RC1 RC2 */ |
int servo_set_RC5_switch(int port, int data); |
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/* Servo control */ |
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27,28 → 29,28 |
/* Convert angle (degree, minute, second -> second) */ |
#define ANGLE2SEC(deg,min,sec) ((deg)*3600 + (min)*60 + (sec)) |
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int servo_turn_off(int servo); |
int servo_turn_on(int servo); |
int servo_turn_off_all(void); |
int servo_turn_on_all(void); |
int servo_turn_off(int port, int servo); |
int servo_turn_on(int port, int servo); |
int servo_turn_off_all(int port); |
int servo_turn_on_all(int port); |
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int servo_set_levels(int bank, int mask); |
int servo_get_levels(); |
int servo_store_levels(); |
int servo_set_levels(int port, int bank, int mask); |
int servo_get_levels(int port, int bank); |
int servo_store_levels(int port); |
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int servo_set_max_angle_sec(int servo, int angle_sec); |
int servo_set_min_angle_sec(int servo, int angle_sec); |
int servo_set_max_angle_sec(int port, int servo, int angle_sec); |
int servo_set_min_angle_sec(int port, int servo, int angle_sec); |
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int servo_set_angle_sec(int servo, int angle_sec); |
int servo_get_angle_sec(int servo); |
int servo_set_angle_sec(int port, int servo, int angle_sec); |
int servo_get_angle_sec(int port, int servo); |
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int servo_store_default_position(int servo); |
int servo_store_default_position(int port, int servo); |
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/* Analog control */ |
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#define MAX_ANALOG 0x03FF |
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int servo_get_analog(int port); |
int servo_get_analog(int port, int adport); |
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#endif |
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