// // Scilab ( http://www.scilab.org/ ) - This file is part of Scilab // Copyright (C) 2011-2011 - DIGITEO - Bruno JOFRET // // This file must be used under the terms of the CeCILL. // This source file is licensed as described in the file COPYING, which // you should have received as part of this distribution. The terms // are also available at // http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt // // function block=ARDUINO_SERVO_WRITE_sim(block,flag) global port_com arduino_sample_time; function DEBUG(message) disp("[DEBUG time = "+string(scicos_time())+"] {"+block.label+"} ARDUINO_ANALOG_WRITE Simulation: "+message); endfunction select flag case -5 // Error case 0 // Derivative State Update case 1 // Output Update u1 = block.inptr(1); if (u1<0) then //pin="8"+ascii(96+block.rpar(1))+ascii(0); pin="Sw"+ascii(48+block.rpar(1))+ascii(0); // writeserial(port_com,pin); elseif u1>180 then //pin="8"+ascii(96+block.rpar(1))+ascii(180); pin="Sw"+ascii(48+block.rpar(1))+ascii(180); // writeserial(port_com,pin); else //pin="8"+ascii(96+block.rpar(1))+ascii(uint8(u1)); pin="Sw"+ascii(48+block.rpar(1))+ascii(uint8(u1)); // writeserial(port_com,pin); end write_serial(1,pin,4); case 2 // State Update case 3 // OutputEventTiming evout = block.evout(1); if evout < 0 evout = arduino_sample_time; else evout = evout + arduino_sample_time; end block.evout(1) = evout; case 4 // Initialization disp("init servo write") if block.rpar(1)==1 then //servo 1 on pin 9 pin="Sa1" //pin="6a1" // writeserial(port_com,pin); write_serial(1,pin,3); elseif block.rpar(1)==2 then //servo 2 on pin 10 //pin="6b1" pin="Sa2" // writeserial(port_com,pin); write_serial(1,pin,3); else messagebox("Probleme dans le numero du servomoteur") error('problem') end case 5 // Ending if block.rpar(1)==1 then //servo 1 on pin 10 //pin="6a0" pin="Sd1" // writeserial(port_com,pin); write_serial(1,pin,3); elseif block.rpar(1)==2 then //servo 2 on pin 9 //pin="6b0" pin="Sd2" // writeserial(port_com,pin); write_serial(1,pin,3); else messagebox("Probleme dans le numero du servomoteur") error('problem') end case 6 // Re-Initialisation case 9 // ZeroCrossing else // Unknown flag end endfunction