LibRobotControl

// Trying Out Some Source from LibRobotControl
// For debugging and testing w/ laasyapriya
// W/ some testing from Seth and some source from librobotcontrol theory...

#include <robotcontrol.h>
#include <stdio.h>
#include <stdlib.h>

#define RC_SERVO_CH_MIN 1
#define RC_SERVO_CH_MAX 8
#define RC_ESC_DEFAULT_MIN_US 1000
#define RC_ESC_DEFAULT_MAX_US 2000

int min = RC_SERVO_CH_MIN;
int min_us = RC_ESC_DEFAULT_MIN_US;
int max_us = RC_ESC_DEFAULT_MAX_US;
double servo_pos = 0;
double sweep_limit = 0;
int ch = 1;
double direction = 1;
int frequency_hz = 50;
int i = 0;
int val = 0;
int en = 1;

int main() {
        // Main Loop at 50 Hz?
        while(ch == 1) {
            // increase and descrease?
                servo_pos += direction * sweep_limit / frequency_hz;

                // reset and start from scratch
                if(servo_pos > sweep_limit) {
                        servo_pos = sweep_limit;
                        direction = -1;
                }
                else if(servo_pos < (-sweep_limit)) {
                        servo_pos = -sweep_limit;
                        direction = 1;
                // The results are in...
                }
        }

        // sleeping or trying to!
        rc_usleep(1000000 / frequency_hz);
        return 0;
}

int rc_servo_init(void) {
        // Start and Configure the PRU for sending Servo Pulses...
        while(ch == 1) {
                ch = 1;
                rc_set_state(RUNNING);
                rc_servo_init();
                rc_make_pid_file();
        }
        return 0;
}
int rc_servo_power_rail_en(en) {
        if(en) {
                rc_servo_power_rail_en(1);
        }
        return 0;
}

int rc_servo_set_esc_range(min_us, max_us) {
        return 0;
}

int rc_servo_send_pulse_normalized(int ch, double servo_pos) {
        for(servo_pos = 1; servo_pos <= 8; servo_pos++) {
                val = ch;
                if(val > 0) {
                        rc_servo_send_pulse_normalized(servo_pos, val);
                        servo_pos = 1;
                        rc_usleep(100000);
                        servo_pos = -1;
                        rc_usleep(100000);
                }
        }
        return 0;
}