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Commit 2a534a48 authored by Werner Sembach's avatar Werner Sembach
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Fix first Ainigma

parent b43d78cf
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Lasercutter/Connector Addition.svg 0 → 100644
View file @ 2a534a48
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<svg width="32.64mm" height="36.64mm" viewBox="0 0 32.64 36.64" xmlns="http://www.w3.org/2000/svg" version="1.1">
<g id="Sketch" transform="translate(16.320000,17.320000) scale(1,-1)">
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<title>Sketch</title>
</g>
</svg>
\ No newline at end of file
Lasercutter/Connector.svg 0 → 100644
View file @ 2a534a48
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<svg
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xmlns:cc="http://creativecommons.org/ns#"
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xmlns:svg="http://www.w3.org/2000/svg"
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inkscape:version="0.92.1 r">
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main.c
View file @ 2a534a48
......@@ -174,13 +174,13 @@ bool motor_on (uint16_t input_adc){
}
else if(input_adc > 3900) {
ezs_printf("Speed: %3d\n", 0);
dc_set(DC_LEFT, 250);
dc_set(DC_RIGHT, 250);
return true;
}
else {
uint8_t speed = input_adc / 4096.0 * 125;
ezs_printf("Speed: %3d\n", speed);
dc_set(DC_LEFT, speed);
dc_set(DC_RIGHT, speed);
}
return false;
}
......@@ -188,12 +188,14 @@ bool motor_on (uint16_t input_adc){
void test_thread(cyg_addrword_t arg) {
test_init();
bool button_state = false;
bool ueberdreht = false;
bool upside_down = false;
uint16_t input_adc;
servo_set(SERVO_0, 100);
servo_set(SERVO_0, 0);
while (1) {
input_adc = read_adc_naiive(11);
......@@ -213,7 +215,7 @@ void test_thread(cyg_addrword_t arg) {
if(input_adc > 2500) {
uint8_t speed = 250; //input_adc / 4096.0 * 125; //max: 106
ezs_printf("Speed: %3d\n", speed);
dc_set(DC_LEFT, speed);
dc_set(DC_RIGHT, speed);
}
else {
dc_set(0, 0);
......@@ -228,7 +230,6 @@ void test_thread(cyg_addrword_t arg) {
cyg_thread_delay(250);
}
}
}
void cyg_user_start(void) {
......
src/ServoMotor.cpp
View file @ 2a534a48
......@@ -118,16 +118,16 @@ extern "C" void servo_init() {
extern "C" void servo_set(uint8_t servo, uint8_t position) {
switch (servo) {
case SERVO_0:
timer_set_oc_value(TIM4, TIM_OC1, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 350 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
timer_set_oc_value(TIM4, TIM_OC1, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
case SERVO_1:
timer_set_oc_value(TIM4, TIM_OC2, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 350 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
timer_set_oc_value(TIM4, TIM_OC2, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
case SERVO_2:
timer_set_oc_value(TIM4, TIM_OC3, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 350 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
timer_set_oc_value(TIM4, TIM_OC3, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
case SERVO_3:
timer_set_oc_value(TIM4, TIM_OC4, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 350 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
timer_set_oc_value(TIM4, TIM_OC4, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
break;
default:
break;
......
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