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Tracker: move servo init to servos.pde

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This commit is contained in:
Randy Mackay 2014-10-06 14:56:25 +09:00
parent c69bfa2cb1
commit 704a720412
2 changed files with 19 additions and 9 deletions
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17
AntennaTracker/servos.pde
View File

@ -4,6 +4,23 @@
* servos.pde - code to move pitch and yaw servos to attain a target heading or pitch
*/
// init_servos - initialises the servos
static void init_servos()
{
// setup antenna control PWM channels
channel_yaw.set_angle(g.yaw_range * 100/2); // yaw range is +/- (YAW_RANGE parameter/2) converted to centi-degrees
channel_pitch.set_angle(g.pitch_range * 100/2); // pitch range is +/- (PITCH_RANGE parameter/2) converted to centi-degrees
// move servos to mid position
channel_yaw.output_trim();
channel_pitch.output_trim();
// initialise output to servos
channel_yaw.calc_pwm();
channel_pitch.calc_pwm();
}
/**
update the pitch (elevation) servo. The aim is to drive the boards ahrs pitch to the
requested pitch, so the board (and therefore the antenna) will be pointing at the target

11
AntennaTracker/system.pde
View File

@ -74,15 +74,8 @@ static void init_tracker()
hal.uartB->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
// setup antenna control PWM channels
channel_yaw.set_angle(18000); // Yaw is expected to drive antenna azimuth -180-0-180
channel_pitch.set_angle(9000); // Pitch is expected to drive elevation -90-0-90
channel_yaw.output_trim();
channel_pitch.output_trim();
channel_yaw.calc_pwm();
channel_pitch.calc_pwm();
// initialise servos
init_servos();
// use given start positions - useful for indoor testing, and
// while waiting for GPS lock