| ... | @@ -217,4 +217,18 @@ make motor A go forwards with 50% dutycycle and motor B go backwards with 20% du |
... | @@ -217,4 +217,18 @@ make motor A go forwards with 50% dutycycle and motor B go backwards with 20% du |
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<code>
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<code>
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HDU_POWERTRAIN_init(3000);
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HDU_POWERTRAIN_init(3000);
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HDU_POWERTRAIN_setDutycycles(50, -20);
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HDU_POWERTRAIN_setDutycycles(50, -20);
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</code>
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## Servo control (HDU_SERVO.h)
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## Servo control (HDU_SERVO.h)
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The servo control module allows the control of both servos using TPM1 channel 0 and 1. The ideal PWM signal for a 180° servo should have a frequency of 50 Hz. A dutycytle of 5% means an angle of 0°. The maximum dutycycle is 10% (180°).
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### Module documentation
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####void HDU_SERVO_init(uint32_t frequencyHz)
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initializes the servos with a specific PWM frequency in Hz.
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#### void HDU_SERVO_X_setDutycycle(float dutycycle)
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sets PWM dutycycle for servo X with safety check ( 5% - 10% ).
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#### void HDU_SERVO_X_setSteeringAngle(int angle)
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sets the steering angle of servo X from -90° to 90°. |
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\ No newline at end of file |
