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#include "digitalout.h" // newtest.c // created Aug 5, 2008 #include "config.h" #include "digitalin.h" #include "appled.h" #include "servo.h" void mmmclock( int id ); void MyTask( void* p ); int IRLeft,IRCenter,IRRight,abclk; int ServPos=600; void Run( ) // this task gets called as soon as we boot up. { TaskCreate( MyTask, "Me", 1500, 0, 6 ); } void MyTask( void* p ) { (void)p; Servo_SetActive (1,1); FastTimer_SetActive (true); FastTimerEntry mmmtimer; // our microsecond clock timer FastTimer_InitializeEntry( &mmmtimer, mmmclock, 1, 1000, true ); FastTimer_Set (&mmmtimer); int direction = 0; while( true ) { if (direction == 1) //oscillate servo {ServPos = ServPos + 20;} else {ServPos = ServPos - 20;} if (ServPos >= 1320) //set max range { ServPos = 1320; direction = 0; } if (ServPos <= -480) //set min range { ServPos = -480; direction = 1; } } } void mmmclock( int id ) { (void)id; if (abclk == 500 ) { abclk = 0; } abclk = abclk + 1; Servo_SetPosition (1,ServPos); }

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