From 4a31f8372a0e4b59f8b13b91369e74c71b814c2e Mon Sep 17 00:00:00 2001 From: shrkey Date: Mon, 17 Oct 2016 16:28:11 +0100 Subject: [PATCH] updated servo example code --- examples/Makefile | 2 +- examples/Motor/Motor.cpp | 34 ++++++++++++++++++++-------- examples/Servo/Servo.cpp | 49 ++++++++++++++++++++++++++++++++++++++++ 3 files changed, 74 insertions(+), 11 deletions(-) diff --git a/examples/Makefile b/examples/Makefile index 68abe94..e9854e4 100644 --- a/examples/Makefile +++ b/examples/Makefile @@ -1,4 +1,4 @@ -MODULES = AccelGyroMag ADC AHRS Barometer FRAM GPS LED Multithread PPM-decoder Servo +MODULES = AccelGyroMag Motor Multithread PPM-decoder Servo all: for dir in $(MODULES); do \ diff --git a/examples/Motor/Motor.cpp b/examples/Motor/Motor.cpp index 3565058..e806a59 100644 --- a/examples/Motor/Motor.cpp +++ b/examples/Motor/Motor.cpp @@ -1,16 +1,30 @@ /* -Provided to you by Emlid Ltd (c) 2014. -twitter.com/emlidtech || www.emlid.com || info@emlid.com +Example code is placed under the BSD license. +Written by Team Dark Water (team@darkwater.io) +Copyright (c) 2014, Dark Water +All rights reserved. -Example: Read accelerometer, gyroscope and magnetometer values from -MPU9250 inertial measurement unit over SPI on Raspberry Pi + Navio. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Emlid Limited nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. -Navio's onboard MPU9250 is connected to the SPI bus on Raspberry Pi -and can be read through /dev/spidev0.1 - -To run this example navigate to the directory containing it and run following commands: -make -./AccelGyroMag +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include "darkwater/DWESCAPE.h" diff --git a/examples/Servo/Servo.cpp b/examples/Servo/Servo.cpp index 234f9e3..1e30deb 100644 --- a/examples/Servo/Servo.cpp +++ b/examples/Servo/Servo.cpp @@ -1,3 +1,32 @@ +/* +Example code is placed under the BSD license. +Written by Team Dark Water (team@darkwater.io) +Copyright (c) 2014, Dark Water +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Emlid Limited nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + #define SERVO_MIN 1.250 /*mS*/ #define SERVO_MAX 1.750 /*mS*/ @@ -20,23 +49,43 @@ int main() DW_Servo *s1 = dw.getServo(1); DW_Servo *s2 = dw.getServo(2); + DW_Servo *s3 = dw.getServo(3); + DW_Servo *s4 = dw.getServo(4); + DW_Servo *s5 = dw.getServo(5); + DW_Servo *s6 = dw.getServo(6); s1->off(); s2->off(); + s3->off(); + s4->off(); + s5->off(); + s6->off(); printf("Start servo moves\n"); for( int a = 10; a >= 0; a-- ) { printf("Step %d\n", a); s1->setPWMmS(SERVO_MIN); s2->setPWMmS(SERVO_MIN); + s3->setPWMmS(SERVO_MIN); + s4->setPWMmS(SERVO_MIN); + s5->setPWMmS(SERVO_MIN); + s6->setPWMmS(SERVO_MIN); usleep(1000000); s1->setPWMmS(SERVO_MAX); s2->setPWMmS(SERVO_MAX); + s3->setPWMmS(SERVO_MAX); + s4->setPWMmS(SERVO_MAX); + s5->setPWMmS(SERVO_MAX); + s6->setPWMmS(SERVO_MAX); usleep(1000000); } s1->off(); s2->off(); + s3->off(); + s4->off(); + s5->off(); + s6->off(); return 0; }