/*Javelin Stamp SERVO TEST
Created by Ron Kessler
Oct 2, 2012
This lets you test your servo to see how to control it.
BOTH SERVOS SHOULD GO FORWARDS.
*/



/*  Pulse Width Modulation (PWM) settings:
    1.5ms centers/stops servo
    1.7ms CCW full speed
    1.3ms CW full speed
    Pulses must be sent every 20ms

    Javelin stamp uses a 8.68us (microsecond) time base.

    For the PWM arguments below:
    cw(clockwise) = 1300us / 8.68us = 150
    ccw = 1700 / 8.68 = 196
    center/stop = 1500 / 8.68 = 173
    Pulse frequency = 20ms so 20000 / 8.68 = 2304


*/
//******************PROGRAM START******************

import stamp.core.*;            //package/namespace to use


public class ServoTest {

  static PWM rightServo = new PWM(CPU.pin12,173,2304);
  static PWM leftServo = new PWM(CPU.pin13,173,2304);
  static int cw = 115;
  static int ccw =220;

  static int ptime = 2304;

  public static void main()
   {

      while (true)
       {

            rightServo.update(cw,ptime);
            leftServo.update(ccw,ptime);

       }
   }
}