41 lines
671 B
C++
41 lines
671 B
C++
#define SERVO_MIN 1.250 /*mS*/
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#define SERVO_MAX 1.750 /*mS*/
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#include "darkwater/DW640.h"
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#include "darkwater/Util.h"
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#include <stdlib.h>
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using namespace DarkWater;
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int main()
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{
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if (check_apm()) {
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return 1;
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}
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DW640 dw;
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dw.initialize();
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dw.setFrequency(50);
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DW_Servo *s1 = dw.getServo(1);
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DW_Servo *s2 = dw.getServo(2);
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s1->off();
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s2->off();
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for( int a = 10; a >= 0; a-- ) {
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s1->setPWMmS(SERVO_MIN);
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s2->setPWMmS(SERVO_MIN);
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usleep(1000000);
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s1->setPWMmS(SERVO_MAX);
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s2->setPWMmS(SERVO_MAX);
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usleep(1000000);
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}
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s1->off();
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s2->off();
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return 0;
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}
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