18 lines
520 B
C
18 lines
520 B
C
#include "zf_common_headfile.h"
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#include "cw_servo.h"
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void cw_servo_init(void)
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{
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pwm_init(SERVO_L_PWM_CHANNEL, 50, 1000);
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pwm_init(SERVO_R_PWM_CHANNEL, 50, 1000);
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}
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void cw_servo_set_angle(float servo_l_angle, float servo_r_angle)
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{
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uint32_t servo_l_duty_s = (uint32_t)(servo_l_angle * SERVO_L_DUTY_PER_ANGLE);
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uint32_t servo_r_duty_s = (uint32_t)(servo_r_angle * SERVO_R_DUTY_PER_ANGLE);
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pwm_set_duty(SERVO_L_PWM_CHANNEL, servo_l_duty_s);
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pwm_set_duty(SERVO_R_PWM_CHANNEL, servo_r_duty_s);
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}
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