Rev 1775 | Rev 1868 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1775 | Rev 1821 | ||
|---|---|---|---|
| Line 124... | Line 124... | ||
| 124 | } |
124 | } |
| Line 125... | Line 125... | ||
| 125 | 125 | ||
| 126 | /***************************************************** |
126 | /***************************************************** |
| 127 | * Control Servo Position |
127 | * Control Servo Position |
| 128 | *****************************************************/ |
128 | *****************************************************/ |
| - | 129 | ISR(TIMER2_COMPA_vect) |
|
| 129 | ISR(TIMER2_COMPA_vect) { |
130 | { |
| 130 | // frame len 22.5 ms = 14063 * 1.6 us |
131 | // frame len 22.5 ms = 14063 * 1.6 us |
| 131 | // stop pulse: 0.3 ms = 188 * 1.6 us |
132 | // stop pulse: 0.3 ms = 188 * 1.6 us |
| 132 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
133 | // min servo pulse: 0.6 ms = 375 * 1.6 us |
| 133 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |
134 | // max servo pulse: 2.4 ms = 1500 * 1.6 us |