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Simple Libraries
Motor
libservo360
servo360_getAngle.c
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/*
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@file servo360_getAngle.c
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@author Parallax Inc
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@copyright
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Copyright (C) Parallax Inc. 2017. All Rights MIT Licensed. See end of file.
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@brief
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*/
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#include "
simpletools.h
"
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#include "
servo360.h
"
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int
servo360_getAngle
(
int
pin)
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{
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if
(!_fb360c.servoCog) servo360_run();
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int
p = servo360_findServoIndex(pin);
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if
(p == -1)
return
-1;
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while
(
lockset
(_fb360c.lock360));
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int
val = _fs[p].angle;
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val = val * _fs[p].unitsRev / S360_UNITS_ENCODER;
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lockclr
(_fb360c.lock360);
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return
val;
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}
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simpletools.h
This library provides convenient functions for a variety of microcontroller I/O, timing,...
servo360.h
Parallax Feedback 360 High Speed Servo control and monitoring functions. Uses one additional cog to c...
lockset
#define lockset(lockid)
Set a lock.
Definition:
propeller.h:163
lockclr
#define lockclr(lockid)
Clear lock.
Definition:
propeller.h:170
servo360_getAngle
int servo360_getAngle(int pin)
Get measured angle of servo in degree units.
Definition:
servo360_getAngle.c:17
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