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Add pca_pwm message for PCA9685.

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This commit is contained in:
Benjamin Perseghetti 2022-06-02 13:38:50 -04:00
parent b9be783b69
commit ba65c2e1eb
2 changed files with 6 additions and 0 deletions
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1
msg/CMakeLists.txt
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@ -124,6 +124,7 @@ set(msg_files
optical_flow.msg
orbit_status.msg
parameter_update.msg
pca_pwm.msg
ping.msg
pps_capture.msg
position_controller_landing_status.msg

5
msg/pca_pwm.msg Normal file
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@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint16 pwm_period # PWM period in microseconds (us) [roof((1s/1526hz)*10^7us/s)=656us:floor((1s/24hz)*10^7us/s)=41666us]
uint16[16] pulse_width # pulse width in microseconds (us) [656:41666]
# TOPICS pca_pwm