mirror of https://github.com/ArduPilot/ardupilot
16 lines
476 B
Lua
16 lines
476 B
Lua
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-- move a servo in a sinisoidal fashion
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local SERVO_FUNCTION = 94
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local PERIOD = 0.5
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function update() -- this is the loop which periodically runs
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local t = 0.001 * millis():tofloat()
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local pi = 3.1415
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local output = math.sin(pi * t * PERIOD * 2.0)
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local pwm = math.floor(1500 + 500 * output)
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SRV_Channels:set_output_pwm(SERVO_FUNCTION, pwm)
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return update, 20 -- reschedules the loop at 50Hz
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end
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return update() -- run immediately before starting to reschedule
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