/**************************************************************************** Header file for Servos Module ****************************************************************************/ #ifndef Servos_H #define Servos_H //public defines #define TURRET_AIM -8//how to cock turret for aiming, degrees #define Shooter_Reset 3400//tunable constants for servo positions. #define Shooter_Ready 2000 #define Shooter_Fire 1500 #define Gate_Reset 3600 #define Gate_Release 900 //public functions /**************************************************************************** Function ServosInit Description Initialization for servos -- output compare timers and interrupts ****************************************************************************/ void ServosInit(void); /**************************************************************************** Function SetTurretServo Parameters signed char Angle (in degrees, left is +) Description Sets angle of turret servo, bounded by MIN and MAX ****************************************************************************/ void SetTurretServo (signed char Angle); /**************************************************************************** Function SetShooterServo / SetGateServo Parameters unsigned int ...Position - pusle width, in 0.67us's Description sets Servo position based on provided pulse width ****************************************************************************/ void SetShooterServo (unsigned int ShooterPosition); void SetGateServo (unsigned int GatePosition); #endif