| /* |
| * Copyright (c) 2017 FH Dortmund. |
| * All rights reserved. This program and the accompanying materials |
| * are made available under the terms of the Eclipse Public License v1.0 |
| * which accompanies this distribution, and is available at |
| * http://www.eclipse.org/legal/epl-v10.html |
| * |
| * Description: |
| * A4MCAR Project - Low-level Module Servo Motor driver task for steering - Header file |
| * |
| * Authors: |
| * M. Ozcelikors <mozcelikors@gmail.com> |
| * |
| * Update History: |
| * |
| */ |
| |
| #ifndef SERVO_H_ |
| #define SERVO_H_ |
| |
| #include "defines.h" |
| |
| #define STEERINGSERVO_PWM_PERIOD (20 * MILLISECOND) |
| #define STEERINGSERVO_PWM_MAXLEFT_PULSE_WIDTH (1.3 * MILLISECOND) |
| #define STEERINGSERVO_PWM_MAXRIGHT_PULSE_WIDTH (1.75 * MILLISECOND) |
| |
| // Prototypes |
| [[combinable]] |
| void Task_SteeringServo_MotorController (out port p, server steering_if steering_interface); |
| void Task_ApplyPWMTo1BitPort (port p, int duty_cycle); |
| |
| #endif /* SERVO_H_ */ |
