randomskk / followingrobot

C/ASM code for an ARM-based robot with a vision system to follow the user

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followingrobot / servo.h
100644 25 lines (19 sloc) 0.666 kb
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/************************************************
 *	FollowingRobot - servo.h
 *	Control servos on PB8,9
 *	Header file.
 *	See README for more details.
 ***********************************************/
 
#include "stm32f10x_lib.h"
 
//Values found by experimentation to reliably send that servo
// in that direction.
#define SERVO_L_BACKWARD 16800
#define SERVO_L_FORWARD	13800
 
#define SERVO_R_BACKWARD 7500
#define SERVO_R_FORWARD	10200
 
#define SERVO_L		1
#define SERVO_R		2
 
//Send a pulse to a specified servo, moving it
void servo_send_pulse( int servo, int pulse );
 
//Prototype for Delay, defined in main.c, a busy wait loop
void Delay( unsigned long delay );