int main(void) {
unsigned long home[32] = {0L};
unsigned long frame[32] = {0L};
// first set the correct RoBoard version
roboio_SetRBVer(RB_100);
//roboio_SetRBVer(RB_100RD); // if your RoBoard is RB-100RD
//roboio_SetRBVer(RB_110); // if your RoBoard is RB-110
//roboio_SetRBVer(RB_050); // if your RoBoard is RB-050
rcservo_SetServo(RCSERVO_PINS1, RCSERVO_SERVO_DEFAULT_NOFB); // select the servo model on pin S1 as non-feedback servo
rcservo_SetServo(RCSERVO_PINS2, RCSERVO_SERVO_DEFAULT_NOFB); // select the servo model on pin S2 as non-feedback servo
if (rcservo_Init(RCSERVO_USEPINS1 + RCSERVO_USEPINS2) == false) // set PWM/GPIO pins S1 & S2 as Servo mode
{
printf("ERROR: fail to init RC Servo lib (%s)!\n", roboio_GetErrMsg());
return -1;
}
home[0] = home[1] = 1500L; // set the initial home position of all servos as 1500us
rcservo_EnterPlayMode_HOME(home); // enter Action Playing Mode for moving servos
printf("press ENTER to move servo on pins S1 & S2.\n"); getchar();
frame[0] = 900L; // move the servo on pin S1 to position 900us
frame[1] = 1800L; // move the servo on pin S2 to position 1800us
rcservo_MoveTo(frame, 2000L); // move servos to the target positions in 2000ms
printf("press ENTER to move only the servo on pin S1.\n"); getchar();
rcservo_MoveOne(RCSERVO_PINS1, 1800L, 500L); // move the servo to position 1800us in 300ms
printf("press ENTER to move servo on pins S1 & S2.\n"); getchar();
frame[0] = 900L; // move the servo on pin S1 to position 900us
frame[1] = 900L; // move the servo on pin S2 to position 900us
rcservo_MoveTo(frame, 3000L); // move servos to the target positions in 3000ms
printf("Complete.\n");
rcservo_Close(); // close RC Servo lib
return 0;
}
int main(void) {
// first set the correct RoBoard version
roboio_SetRBVer(RB_100);
//roboio_SetRBVer(RB_100RD); // if your RoBoard is RB-100RD
//roboio_SetRBVer(RB_110); // if your RoBoard is RB-110
//roboio_SetRBVer(RB_050); // if your RoBoard is RB-050
if (rcservo_Init(RCSERVO_USEPINS1 + RCSERVO_USEPINS2) == false) // set PWM/GPIO pins S1 & S2 as Servo mode
{
printf("ERROR: fail to init RC Servo lib (%s)!\n", roboio_GetErrMsg());
return -1;
}
rcservo_EnterPWMMode(); // make all servo-mode pins go into PWM mode
printf("Send PWM pulses of period 10ms duty 1500us on pin S1...\n");
rcservo_SendCPWM(RCSERVO_PINS1, 10000L, 1500L);
printf("Send PWM pulses of period 5ms duty 800us on pin S2...\n");
rcservo_SendCPWM(RCSERVO_PINS2, 5000L, 800L);
printf("Press ENTER to change PWM output.\n"); getchar();
printf("Send PWM pulses of period 20ms duty 2300us on pin S1...\n");
rcservo_SendCPWM(RCSERVO_PINS1, 20000L, 2300L);
printf("Send PWM pulses of period 10ms duty 1000us on pin S2...\n");
rcservo_SendCPWM(RCSERVO_PINS2, 10000L, 1000L);
printf("Press ENTER to stop.\n"); getchar();
rcservo_StopPWM(RCSERVO_PINS1);
rcservo_StopPWM(RCSERVO_PINS2);
rcservo_Close(); // close RC Servo lib
return 0;
}
int main()
{
unsigned long usedchannel = RCSERVO_USECHANNEL0 +RCSERVO_USECHANNEL1 +RCSERVO_USECHANNEL2 +
RCSERVO_USECHANNEL4 +RCSERVO_USECHANNEL5 +RCSERVO_USECHANNEL6+
RCSERVO_USECHANNEL9 +RCSERVO_USECHANNEL10+RCSERVO_USECHANNEL11+
RCSERVO_USECHANNEL13+RCSERVO_USECHANNEL14+RCSERVO_USECHANNEL15+
RCSERVO_USECHANNEL16+RCSERVO_USECHANNEL17+RCSERVO_USECHANNEL18+
RCSERVO_USECHANNEL21+RCSERVO_USECHANNEL22+RCSERVO_USECHANNEL23; // for RB-100
if(allegro_init())
{
printf("error:initialize allegro library failed!!\n");
return -1;
}
if(install_keyboard())
{
printf("error:initialize keybaord failed!!\n");
return -1;
}
roboio_SetRBVer(RB_100);
if(rcservo_SetServos(usedchannel, RCSERVO_DMP_RS0263) == false)
{
printf("Set servo fails!%s\n",roboio_GetErrMsg());
return -1;
}
if(rcservo_Initialize(usedchannel) == false)
{
printf("RC servo initialize fails!%s\n",roboio_GetErrMsg());
return -1;
}
rcservo_SetFPS(500);
rcservo_EnterPlayMode_NOFB(NORMAL);
SetVal();
PRE_STATE = STATE = BALANCE;
ADJUST = 0.0;
BODY_YAW = 0.0;
BODY_PITCH = 0.0;
BODY_ROLL = 0.0;
POS_GAIN[0] = 0.0;
POS_GAIN[1] = 0.0;
POS_GAIN[2] = 0.0;
Prepare();
while(STATE != EXIT)
{
GetInput();
switch(STATE)
{
case FORWARD:
case BACKWARD:
case RIGHTWARD:
case LEFTWARD:
case FLWARD:
case FRWARD:
case BLWARD:
case BRWARD:
case LCIRCLE:
case RCIRCLE:
PlayMotion();
break;
case IDLE:
Idle();
break;
case BALANCE:
Stable();
break;
default:
break;
}
}
rcservo_Close();
i2c_Close();
remove_keyboard();
return 0;
}
