💯 Adds initial IK and servo functionality

2023-05-06 02:24:50 +02:00
parent baa14da9ff
commit 9705628f29
10 changed files with 659 additions and 9 deletions
@@ -0,0 +1,16 @@
+#ifndef SERVO_H
+#define SERVO_H
+
+#include <esp_err.h>
+
+typedef struct {
+  uint16_t pulse_0; 
+  uint16_t pulse_180; 
+  int8_t invert;
+} servo_settings_t;
+
+esp_err_t disable_servos();
+esp_err_t setup_pwm_controller();
+esp_err_t set_servo(uint8_t id, uint16_t angle);
+
+#endif