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hotfix for motor/servo problem (https://calliope-mini.myjetbrains.com/youtrack/agiles/82-2/83-5)

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Matthias L. Jugel 2017-10-08 17:26:52 +02:00
parent 3fc7888aab
commit aa6b6daf45
1 changed files with 13 additions and 0 deletions
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13
libs/core/pins.cpp
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@ -206,6 +206,17 @@ namespace pins {
return end - start; return end - start;
} }
// TODO FIX THIS IN THE DAL!
inline void fixMotorIssue(AnalogPin name) {
NRF_TIMER2->SHORTS = TIMER_SHORTS_COMPARE3_CLEAR_Msk;
NRF_TIMER2->INTENCLR = TIMER_INTENCLR_COMPARE3_Msk;
NRF_TIMER2->PRESCALER = 4;
NRF_TIMER2->CC[3] = 20000;
NRF_TIMER2->TASKS_START = 1;
NRF_TIMER2->EVENTS_COMPARE[3] = 0;
PINOP(getDigitalValue());
}
/** /**
* Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will set the angle of the shaft (in degrees), moving the shaft to that orientation. On a continuous rotation servo, this will set the speed of the servo (with ``0`` being full-speed in one direction, ``180`` being full speed in the other, and a value near ``90`` being no movement). * Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will set the angle of the shaft (in degrees), moving the shaft to that orientation. On a continuous rotation servo, this will set the speed of the servo (with ``0`` being full-speed in one direction, ``180`` being full speed in the other, and a value near ``90`` being no movement).
* @param name pin to write to * @param name pin to write to
@ -215,6 +226,7 @@ namespace pins {
//% blockId=device_set_servo_pin block="servo write|pin %name|to %value" blockGap=8 //% blockId=device_set_servo_pin block="servo write|pin %name|to %value" blockGap=8
//% parts=microservo trackArgs=0 //% parts=microservo trackArgs=0
void servoWritePin(AnalogPin name, int value) { void servoWritePin(AnalogPin name, int value) {
fixMotorIssue(name);
PINOP(setServoValue(value)); PINOP(setServoValue(value));
} }
@ -226,6 +238,7 @@ namespace pins {
//% help=pins/servo-set-pulse weight=19 //% help=pins/servo-set-pulse weight=19
//% blockId=device_set_servo_pulse block="servo set pulse|pin %value|to (µs) %micros" //% blockId=device_set_servo_pulse block="servo set pulse|pin %value|to (µs) %micros"
void servoSetPulse(AnalogPin name, int micros) { void servoSetPulse(AnalogPin name, int micros) {
fixMotorIssue(name);
PINOP(setServoPulseUs(micros)); PINOP(setServoPulseUs(micros));
} }