2 * Copyright Droids Corporation, Microb Technology (2008)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: action.c,v 1.5 2008-03-31 22:22:52 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
27 #include "../common/i2c_commands.h"
31 void action_init(void)
37 * 0000 XXXX select servo XXXX
38 * 01XX XXXX set LSB of servo
39 * 10XX XXXX set MSB of servo and validate value
41 void action_servo_set(uint8_t num, uint16_t us)
44 uart1_send(0x40 | (us&0x3F));
45 uart1_send(0x80 | ((us>>6)&0x3F));