[paparazzi-commits] [4723]

[antoine drouin]

Revision: 4723
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4723
Author:   poine
Date:     2010-03-24 10:07:17 +0000 (Wed, 24 Mar 2010)
Log Message:
-----------


Added Paths:
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    paparazzi3/trunk/sw/airborne/lisa/test_servos.c

Added: paparazzi3/trunk/sw/airborne/lisa/test_servos.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_servos.c                             
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/test_servos.c     2010-03-24 10:07:17 UTC 
(rev 4723)
@@ -0,0 +1,63 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2010 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include <inttypes.h>
+
+#include "init_hw.h"
+#include "sys_time.h"
+#include "actuators/booz_actuators_pwm.h"
+
+static inline void main_init( void );
+static inline void main_periodic( void );
+
+int main(void) {
+
+  main_init();
+  while (1) {
+    if (sys_time_periodic())
+      main_periodic();
+  };
+  return 0;
+}
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  booz_actuators_pwm_hw_init();
+}
+
+static inline void main_periodic( void ) {
+  //  static float foo = 0.;
+  //  foo += 0.001;
+  //  int32_t bar = 9600. * sin(foo);
+  static int32_t foo = 10;
+  static int32_t bar = 0;
+  bar += foo;
+  if (bar > 9600) { foo = -foo; bar = 9600;}
+  if (bar < -9600) { foo = -foo; bar = -9600;}
+  booz_actuators_pwm_values[0] = 3375 + bar * 1125 / 9600;
+  booz_actuators_pwm_commit();
+}
+
+
+