Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.

Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

PWM.h

Committer:
syundo0730
Date:
2013-02-27
Revision:
16:e65c192b7ecf
Parent:
11:1539d181e159
Child:
21:a54bcab078ed

File content as of revision 16:e65c192b7ecf:

#ifndef PWM_H_2012_08_28_
#define PWM_H_2012_08_28_

#include "LPC17xx.h"
#include "mbed.h"

const uint32_t SRV_PERIOD = 2500 - 1;//
const uint32_t SRV_MAX_DUTY = 2100 - 1;//
const uint32_t SRV_MIN_DUTY = 900 - 1;//

const uint8_t SRV_IDX_SHIFT = 3;//
const uint8_t SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;//
const uint8_t SRV_IDX_MASK = SRV_IDX_NUM - 1;//
const uint8_t SRV_BANK_NUM = 3;//
const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//

const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM] = {
    {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD},
    {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD},
    {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD}
    };

const uint16_t HOMEPOS[] = {
1570,
1490,
1500,
1820,
1515,
1500,
0,
0,
1500,
1500,
1500,
1220,
1500,
1500,
0,
0,
1520,
1520,
1520,
1520,
1520,
1520,
1520,
1520
};

class PWM {
  public:
    PWM();
  public:
    void InitPWM();
    void SetDuty(uint8_t ch, uint32_t duty);
  public:
    static volatile uint8_t SRV_Idx;
    static volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];
};

#ifdef __cplusplus
extern "C" {
    void PWM1_IRQHandler();
}
#endif

#endif  //PWM_H_2012_08_28_