87e61f9770
If software time stamping is to be used, then the servo will want to have appropriate filtering. Signed-off-by: Richard Cochran <richardcochran@gmail.com>
44 lines
1.3 KiB
C
44 lines
1.3 KiB
C
/**
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* @file servo.c
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* @note Copyright (C) 2011 Richard Cochran <richardcochran@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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#include <string.h>
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#include "pi.h"
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#include "servo_private.h"
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struct servo *servo_create(char *name, int max_ppb, int sw_ts)
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{
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if (!strncmp(name, "pi", 2)) {
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return pi_servo_create(max_ppb, sw_ts);
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}
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return NULL;
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}
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void servo_destroy(struct servo *servo)
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{
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servo->destroy(servo);
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}
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double servo_sample(struct servo *servo,
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double offset,
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double local_ts,
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enum servo_state *state)
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{
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return servo->sample(servo, offset, local_ts, state);
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}
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