mzservo.nc

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/*									tab:4
 *
 *
 * "Copyright (c) 2002 and The Regents of the University 
 * of California.  All rights reserved.
 *
 * Permission to use, copy, modify, and distribute this software and its
 * documentation for any purpose, without fee, and without written agreement is
 * hereby granted, provided that the above copyright notice, the following
 * two paragraphs and the author appear in all copies of this software.
 * 
 * IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR
 * DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT
 * OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF
 * CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 * THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS FOR A PARTICULAR PURPOSE.  THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS."
 *
 * Authors:		Sarah Bergbreiter
 * Date last modified:  8/12/02
 *
 * Uses the ADC to sense current position and Motor2 to drive the motor
 * to the desired position.
 *
 */

includes MotorBoard;

configuration MZServo {
  provides interface Servo;
  provides interface ServoCalibration;
}
implementation {
  components MZServoM, HPLMotor2, HPLInterrupt, ADCC, HPLEEPROM;

  Servo = MZServoM.Servo;
  ServoCalibration = MZServoM.ServoCalibration;

  MZServoM.Motor -> HPLMotor2;
  MZServoM.ADC -> ADCC.ADC[TOSM_SERVO_PORT];
  MZServoM.ADCControl -> ADCC;
  MZServoM.Interrupt -> HPLInterrupt;
  MZServoM.EEPROM -> HPLEEPROM;

}