servo.h

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#ifndef _SERVO_H
#define _SERVO_H

#include <cc2511_map.h>
#include <cc2511_types.h>

#define SERVO_MAX_TARGET_MICROSECONDS  2500

#define SERVO_TICKS_PER_MICROSECOND    24


void servosStart(uint8 XDATA * pins, uint8 numPins);

void servosStop(void);

BIT servosStarted(void);

BIT servosMoving(void);

void servoSetTarget(uint8 servoNum, uint16 targetMicroseconds);

uint16 servoGetTarget(uint8 servoNum);

void servoSetSpeed(uint8 servoNum, uint16 speed);

uint16 servoGetSpeed(uint8 servoNum);

uint16 servoGetPosition(uint8 servoNum);

void servoSetTargetHighRes(uint8 servoNum, uint16 target);

uint16 servoGetTargetHighRes(uint8 servoNum);

uint16 servoGetPositionHighRes(uint8 servoNum);

ISR(T1, 0);

#endif