void Control::demo(){
float millis = 1.0;
int tick = calcTicks(millis, HERTZ);
while(1){
pwmWrite(PIN_BASE + 16, tick);
delay(2000);
millis=1.6;
tick = calcTicks(millis, HERTZ);
pwmWrite(PIN_BASE + 16, tick); delay(2000);
millis=1.0;
tick = calcTicks(millis, HERTZ);
pwmWrite(PIN_BASE + 16, tick);
delay(2000);
}
}
void Control::adjustMotorSpeed(int motor, double speed){
double milliseconds = speed*(MaxTime-MinTime)+MinTime;
milliseconds = inputNormalizer(milliseconds, MinTime, MaxTime);
//printf("Milliseconds: %f", milliseconds);
double tick = calcTicks(milliseconds, HERTZ);
pwmWrite(PIN_BASE + motor, tick);
}
int main(void)
{
printf("PCA9685 servo example\n");
printf("Connect a servo to any pin. It will rotate to random angles\n");
// Setup with pinbase 300 and i2c location 0x40
int fd = pca9685Setup(PIN_BASE, 0x40, HERTZ);
if (fd < 0)
{
printf("Error in setup\n");
return fd;
}
// Reset all output
pca9685PWMReset(fd);
// Set servo to neutral position at 1.5 milliseconds
// (View http://en.wikipedia.org/wiki/Servo_control#Pulse_duration)
float millis = 1.5;
int tick = calcTicks(millis, HERTZ);
pwmWrite(PIN_BASE + 16, tick);
delay(2000);
int active = 1;
while (active)
{
// That's a hack. We need a random number < 1
float r = rand();
while (r > 1)
r /= 10;
millis = map(r, 1, 2);
tick = calcTicks(millis, HERTZ);
pwmWrite(PIN_BASE + 16, tick);
delay(1000);
}
return 0;
}
int main(void)
{
printf("PCA9685 User-defined signal generation for KK2\n");
// Setup with pinbase 300 and i2c location 0x40
int fd = pca9685Setup(PIN_BASE, 0x40, 1/PERIOD);
if (fd < 0)
{
printf("Error in setup\n");
return fd;
}
// Reset all output
pca9685PWMReset(fd);
int cmd = 1;
float dutytime = MIN_DUTY;
int dutyTicks = 0;
int channel = 0;
while(cmd != 0){
printMenu();
printf("Select an option: ");
cmd = getchar()-'0';
switch(cmd){
case 1:
printf("Select channel: ");
getchar();
channel = getchar()-'0';
printf("Testing 1.25ms...\n");
//setPWMSignal(channel, PERIOD, 0.0);
//dutytime = map(0.5, , 1.25);
dutyTicks = calcTicks(1.25, PERIOD);
printf("dutyTicks = %d\n", dutyTicks);
pwmWrite(PIN_BASE, dutyTicks);
delay(2000);
printf("Testing 1.50ms...\n");
//dutytime = map(0, 1.5, 1.5);
//setPWMSignal(channel, PERIOD, 0.5);
dutyTicks = calcTicks(1.50, PERIOD);
printf("dutyTicks = %d\n", dutyTicks);
pwmWrite(PIN_BASE, dutyTicks);
delay(2000);
printf("Testing 1.75ms...\n");
//dutytime = map(0, 1.75, 1.75);
//setPWMSignal(channel, PERIOD, 1.0);
dutyTicks = calcTicks(1.75, PERIOD);
printf("dutyTicks = %d\n", dutyTicks)
pwmWrite(PIN_BASE, dutyTicks);
delay(2000);
break;
case 2:
break;
default:
break;
}
}
// Set servo to neutral position at 1.5 milliseconds
// (View http://en.wikipedia.org/wiki/Servo_control#Pulse_duration)
/*float millis = 1.5;
int tick = calcTicks(millis, HERTZ);
pwmWrite(PIN_BASE, tick);
delay(2000);
int active = 1;
while (active)
{
// That's a hack. We need a random number < 1
float r = rand() /(rand() * 10);
//while (r > 1)
// r /= 10;
printf("r: %lf\n", r);
millis = map(r, 1.25, 1.75);
printf("millis: %lf\n", millis);
tick = calcTicks(millis, HERTZ);
printf("tick: %d\n", tick);
pwmWrite(PIN_BASE, tick);
delay(1000);
}*/
return 0;
}
void setPWMSignal(int channel, float period, float duty){
int ticks = calcTicks(map(duty,MIN_DUTY,MAX_DUTY), 1/period);
pwmWrite(PIN_BASE+channel, ticks);
//delay(period*1000);
}