47 lines
1.3 KiB
Rust
47 lines
1.3 KiB
Rust
#![no_std]
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#![no_main]
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use defmt::*;
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use embassy_executor::Spawner;
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use embassy_nrf::pwm::{Prescaler, SimplePwm};
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use embassy_time::Timer;
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use {defmt_rtt as _, panic_probe as _};
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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let p = embassy_nrf::init(Default::default());
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let mut pwm = SimplePwm::new_1ch(p.PWM0, p.P0_05);
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// sg90 microervo requires 50hz or 20ms period
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// set_period can only set down to 125khz so we cant use it directly
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// Div128 is 125khz or 0.000008s or 0.008ms, 20/0.008 is 2500 is top
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pwm.set_prescaler(Prescaler::Div128);
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pwm.set_max_duty(2500);
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info!("pwm initialized!");
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Timer::after_millis(5000).await;
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// 1ms 0deg (1/.008=125), 1.5ms 90deg (1.5/.008=187.5), 2ms 180deg (2/.008=250),
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loop {
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info!("45 deg");
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// poor mans inverting, subtract our value from max_duty
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pwm.set_duty(0, 2500 - 156);
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Timer::after_millis(5000).await;
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info!("90 deg");
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pwm.set_duty(0, 2500 - 187);
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Timer::after_millis(5000).await;
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info!("135 deg");
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pwm.set_duty(0, 2500 - 218);
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Timer::after_millis(5000).await;
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info!("180 deg");
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pwm.set_duty(0, 2500 - 250);
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Timer::after_millis(5000).await;
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info!("0 deg");
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pwm.set_duty(0, 2500 - 125);
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Timer::after_millis(5000).await;
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}
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}
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