mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
synced 2026-05-24 00:14:04 +02:00
Kevin Thomas
86 lines
3.1 KiB
C
86 lines
3.1 KiB
C
/**
|
|
* @file 0x05_servo.c
|
|
* @brief SG90 servo motor driver for the Raspberry Pi Pico 2
|
|
* @author Kevin Thomas
|
|
* @date 2025
|
|
*
|
|
* MIT License
|
|
*
|
|
* Copyright (c) 2025 Kevin Thomas
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
* of this software and associated documentation files (the "Software"), to deal
|
|
* in the Software without restriction, including without limitation the rights
|
|
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the Software is
|
|
* furnished to do so, subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
* SOFTWARE.
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*
|
|
* This driver demonstrates SG90 servo control using the servo.c/servo.h
|
|
* driver (PWM at 50 Hz on GPIO 6). The servo sweeps from 0 degrees to
|
|
* 180 degrees and back in 10-degree increments, printing each angle over
|
|
* UART.
|
|
*
|
|
* Wiring:
|
|
* GPIO6 -> Servo signal wire (orange or yellow)
|
|
* 5V -> Servo power wire (red) -- use external 5 V supply for load
|
|
* GND -> Servo ground wire (brown or black)
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include "pico/stdlib.h"
|
|
#include "servo.h"
|
|
|
|
#define SERVO_GPIO 6
|
|
#define STEP_DEGREES 10
|
|
#define STEP_DELAY_MS 150
|
|
|
|
/**
|
|
* @brief Sweep the servo between start and end angles in given steps
|
|
*
|
|
* Iterates from start to end with the given step increment, setting
|
|
* each angle and printing the current position with a delay between steps.
|
|
*
|
|
* @param start Starting angle in degrees
|
|
* @param end Ending angle in degrees
|
|
* @param step Increment per iteration (negative for descending)
|
|
*/
|
|
static void _sweep_angle(int start, int end, int step) {
|
|
for (int angle = start; (step > 0) ? angle <= end : angle >= end; angle += step) {
|
|
servo_set_angle((float)angle);
|
|
printf("Angle: %3d deg\r\n", angle);
|
|
sleep_ms(STEP_DELAY_MS);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Application entry point for the servo sweep demo
|
|
*
|
|
* Initializes the servo on GPIO and continuously sweeps 0-180-0 degrees
|
|
* in STEP_DEGREES increments, reporting each angle over UART.
|
|
*
|
|
* @return int Does not return
|
|
*/
|
|
int main(void) {
|
|
stdio_init_all();
|
|
servo_init(SERVO_GPIO);
|
|
printf("Servo driver initialized on GPIO %d\r\n", SERVO_GPIO);
|
|
printf("Sweeping 0 -> 180 -> 0 degrees in %d-degree steps\r\n", STEP_DEGREES);
|
|
while (true) {
|
|
_sweep_angle(0, 180, STEP_DEGREES);
|
|
_sweep_angle(180, 0, -STEP_DEGREES);
|
|
}
|
|
}
|