Initial upload

examples/Servo/Servo.cpp

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+/*
+Provided to you by Emlid Ltd (c) 2014.
+twitter.com/emlidtech || www.emlid.com || info@emlid.com
+
+Example: Control servos connected to PCA9685 driver onboard of Navio shield for Raspberry Pi.
+
+Connect servo to Navio's rc output and watch it work.
+Output 1 on board is connected to PCA9685 channel 3, output 2 to channel 4 and so on.
+To use full range of your servo correct SERVO_MIN and SERVO_MAX according to it's specification.
+
+To run this example navigate to the directory containing it and run following commands:
+make
+./Servo
+*/
+
+#define NAVIO_RCOUTPUT_1 3
+#define SERVO_MIN 1.250 /*mS*/
+#define SERVO_MAX 1.750 /*mS*/
+
+#include <darkwater/gpio.h>
+#include "darkwater/PCA9685.h"
+#include "darkwater/Util.h"
+
+using namespace Navio;
+
+int main()
+{
+    static const uint8_t outputEnablePin = RPI_GPIO_27;
+    
+    if (check_apm()) {
+        return 1;
+    }
+
+    Pin pin(outputEnablePin);
+
+    if (pin.init()) {
+        pin.setMode(Pin::GpioModeOutput);
+        pin.write(0); /* drive Output Enable low */
+    } else {
+        fprintf(stderr, "Output Enable not set. Are you root?\n");
+        return 1;
+    }
+
+    PCA9685 pwm;
+
+    pwm.initialize();
+    pwm.setFrequency(50);
+
+    while (true) {
+        pwm.setPWMmS(NAVIO_RCOUTPUT_1, SERVO_MIN);
+        sleep(1);
+        pwm.setPWMmS(NAVIO_RCOUTPUT_1, SERVO_MAX);
+        sleep(1);
+    }
+
+    return 0;
+}