servo.c

/* -----------------------------------------------------------------------------
 * File:            servo.c
 * Project:         Servo Motor Example
 * Author:          Leandro Schwarz
 * Last modified:   28/08/2014
 * -------------------------------------------------------------------------- */

// System definitions
#define F_CPU   16000000UL
#define MCU_8_BITS

// Header files
#include "LS_defines.h"
#include "LS_ATmega328.h"

// Constant definitions
#define INC 10
#define LEFT    0
#define RIGHT   1

// Function declaration

// Global variables

// main function
int main()
{
    uint16 value = 1000;
    uint8 direction = LEFT;

    // Port configuration
    setBit(DDRB, PB1);

    // Timer1 configuration
    timer1ClockPrescaller8();
    timer1PhaseFrequencyCorrectPWMICR1Mode();
    timer1OC1ANonInvertedMode();
    timer1SetInputCaptureValue(20000);

    while(1){
        if(direction == LEFT){
            value += INC;
            if(value >= 2000){
                value = 2000;
                direction = RIGHT;
            }
        }else{
            value -= INC;
            if(value <= 1000){
                value = 1000;
                direction = LEFT;
            }
        }
        timer1SetCompareAValue(value);
        _delay_ms(30);
    }
    return 0;
}