Colony

#ifndef SERVO_H

#define SERVO_H

#include <avr/interrupt.h>

#define SERVO_MS 2000          // Number of ticks per ms

#define SERVO_PERIOD 0          // Amount of time to wait between pulses

#define SERVO_RESET 15000

#define SERVO_MIN 1800            // Smallest pulse length (ticks)

#define SERVO_MAX 4200           // Largest pulse length (ticks)

#define SERVOPORT1 PORTA

#define SERVOPORT2 PORTC        //note that this port will be "backwards", i.e. pin0 is servo 15

#define SERVODDR1 DDRA

#define SERVODDR2 DDRC

#define SERVOMASK1 0x0F

#define SERVOMASK2 0x77

void servo_init(void);

void servo_set_angle(int servo, int angle);

#endif