/*
?*????RoboPeak?Project
?*????http://www.robopeak.com
?*
?*????3D?Scanner
?*????An?applet?of?RoboticPeak?Project
?*
?*????By?Shikai?Chen?（shikai.chn@gmail.com）
?*
?*
?*????Servo?Control
?*
?*
?*?This?software?is?licensed?under?the?terms?of?the?GNU?General?Public
?*?License?version?2?as?published?by?the?Free?Software?Foundation?and
?*?may?be?copied?distributed?and?modified?under?those?terms.
?*
?*?This?program?is?distributed?in?the?hope?that?it?will?be?useful
?*?but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
?*?MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the
?*?GNU?General?Public?License?for?more?details.
?*/


#include?“common.h“
#include?“heading_ctrl.h“

#define?PTZ_SERVO_X?IO_ADC1
#define?PTZ_SERVO_Y?7
#include?“drv/avr_servo_ptz.h“

#define?MAX_PULSE_WIDTH_C?2350
#define?MIN_PULSE_WIDTH_C?550L

#define?MICROSECOND_PER_DEGREE??（（MAX_PULSE_WIDTH_C-MIN_PULSE_WIDTH_C）?/?SERVO_ANGLE_RANGE）?
static?_u16?current_angle?;
void?heading_init（）
{
????servo_ptz_init（）;
????heading_set_angle（900）;
????
}

void?heading_set_angle（int?angle10）
{
????if?（angle10<0）?angle10=0;
????if?（angle10>1800）?angle10?=?1800;
????current_angle?=?angle10;
????servo_ptz_set（0?（long）angle10?*?MICROSECOND_PER_DEGREE/10?+?MIN_PULSE_WIDTH_C）;
}

_u16?heading_get_angle（）{
????return?current_angle;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2011-11-30?12:04??rp-3d-scanner\
?????目錄???????????0??2011-11-30?12:04??rp-3d-scanner\doc\
?????文件???????10746??2011-11-30?10:21??rp-3d-scanner\doc\3dscanner_calib_data.xlsx
?????文件???????18164??2011-11-30?10:21??rp-3d-scanner\doc\fit.emf
?????目錄???????????0??2011-11-30?12:04??rp-3d-scanner\firmware\
?????目錄???????????0??2011-11-30?12:04??rp-3d-scanner\firmware\3d-scanner\
?????文件??????????98??2011-11-30?10:45??rp-3d-scanner\firmware\3d-scanner\build.cmd
?????文件??????????85??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\fuse.txt
?????文件??????????94??2011-11-30?10:45??rp-3d-scanner\firmware\3d-scanner\launchsh.cmd
?????文件????????2680??2011-11-30?10:45??rp-3d-scanner\firmware\3d-scanner\Makefile
?????目錄???????????0??2011-11-30?12:04??rp-3d-scanner\firmware\3d-scanner\src\
?????文件????????1079??2011-11-30?11:28??rp-3d-scanner\firmware\3d-scanner\src\common.h
?????文件????????3618??2011-11-30?11:28??rp-3d-scanner\firmware\3d-scanner\src\conf.h
?????文件????????1324??2011-11-30?11:28??rp-3d-scanner\firmware\3d-scanner\src\heading_ctrl.cpp
?????文件?????????753??2011-11-30?11:28??rp-3d-scanner\firmware\3d-scanner\src\heading_ctrl.h
?????文件????????2631??2011-11-30?11:28??rp-3d-scanner\firmware\3d-scanner\src\ledseg_ctrl.cpp
?????文件?????????850??2011-11-30?11:29??rp-3d-scanner\firmware\3d-scanner\src\ledseg_ctrl.h
?????文件????????2941??2011-11-30?11:29??rp-3d-scanner\firmware\3d-scanner\src\main.cpp
?????文件????????1117??2011-11-30?11:29??rp-3d-scanner\firmware\3d-scanner\src\rp_stk500_protocol.h
?????文件????????7866??2011-11-30?11:29??rp-3d-scanner\firmware\3d-scanner\src\stk500protocol.cpp
?????文件????????9759??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\stk500protocol.h
?????文件???????13037??2011-11-30?11:29??rp-3d-scanner\firmware\3d-scanner\src\usbconfig.h
?????目錄???????????0??2011-11-30?12:04??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\
?????文件????????7865??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\asmcommon.inc
?????文件???????11812??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\Changelog.txt
?????文件????????6705??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\CommercialLicense.txt
?????文件???????19132??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\License.txt
?????文件????????1036??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\oddebug.c
?????文件????????2976??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\oddebug.h
?????文件????????7279??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\Readme.txt
?????文件???????17288??2011-11-11?15:00??rp-3d-scanner\firmware\3d-scanner\src\usbdrv\usbconfig-prototype.h
............此處省略85個文件信息