May
2004, Issue 166
Embedded
Java Controllers
CODE
Listing
1 is the most important section of the code, the
rest of which you may download from the Circuit Cellar
ftp site is in the GpioServoMotor.java file. The code
works on the principle of R/C servo pulses. In order
to set the timing, I divided time into ticks, or 0.1-ms
intervals.
The
PianoRoll is a basic part of the processor’s waveform
module. It starts a basic repetitive timer. The PeriodicThread
uses this time signal.
I
chose to use a PeriodicThread rather than a timer
because, frankly, it was easier. Because I am controlling
modified servos and electronic speed controllers,
I don’t need the fine control that timers or direct
control of the waveform module would give me. I know
that I’ll do this at some point, just not today.
