#include "actuator.h"
#include "options.h"
+// Files containing GPIO and PWM definitions
+#include "gpio.h"
+#include "pwm.h"
/** Array of Actuators (global to this file) initialised by Actuator_Init **/
static Actuator g_actuators[NUMACTUATORS];
/** Human readable names for the Actuators **/
const char * g_actuator_names[NUMACTUATORS] = {
- "actuator_test0", "actuator_test1"
+ "actuator_test0", "actuator_test1", "actuator_test2"
};
/**
{
case ACTUATOR_TEST0:
{
+ // Onboard LEDs test actuator
FILE *led_handle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
const char *led_format = "/sys/class/leds/beaglebone:green:usr%d/brightness";
char buf[50];
}
break;
case ACTUATOR_TEST1:
+ // GPIO pin digital actuator
+ {
+ // Quick actuator function for testing pins
+ // GPIOPin can be passed as argument, but is just defined here for testing purposes
+ int GPIOPin = 13;
+ // Modify this to only export on first run, only unexport on shutdown
+ pinExport(setValue, GPIOString);
+ pinDirection(GPIODirection, setValue);
+ pinSet(value, GPIOValue, setValue);
+ pinUnexport(setValue, GPIOString);
+ }
+ break;
+ case ACTUATOR_TEST2:
+ // PWM analogue actuator (currently generates one PWM signal with first PWM module)
+ {
+ if (pwminit == 0) { // If inactive, start the pwm module
+ pwm_init();
+ }
+ if (pwmstart == 0) {
+ pwm_start();
+ pwm_set_period(FREQ); // Frequency is 50Hz defined in pwm header file
+ }
+ if(value >= 0 && value <= 1000) {
+ double duty = value/1000 * 100; // Convert pressure to duty percentage
+ pwm_set_duty((int)duty); // Set duty percentage for actuator (0-100%)
+ }
+ }
break;
}