16路舵机控制Arduino示例

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1. /***************************************************
   
2.   Example for 2 DC motor && 16 Servo Drive Shield.
   
3. 
   
4.   Results: Servo run forward, and then backward....
   
5. 
   
6.   by DOIT. http://www.doit.am
   
7. ****************************************************/
   
8. 
   
9. #include <Wire.h>
   
10. #include "ServoDriver.h"
    
11. 
    
12. ServoDriver pwm = ServoDriver();
    
13. 
    
14. #define SERVOMIN  102 // this is the 'minimum' pulse length count (out of 4096)
    
15. #define SERVOMAX  512 // this is the 'maximum' pulse length count (out of 4096)
    
16. 
    
17. // IMPORTANT: Servo num #
    
18. uint8_t servonum = 7;
    
19. 
    
20. void setup() {
    
21. 
    
22.   pwm.begin();
    
23.   pwm.setPWMFreq(50);  // servos run at 50 Hz
    
24. }
    
25. 
    
26. void loop() {
    
27.   // Drive ONE servo  at a time
    
28. 
    
29.   for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) {
    
30.     pwm.setPWM(servonum, 0, pulselen);
    
31.   }
    
32.   delay(300);
    
33.   for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {
    
34.     pwm.setPWM(servonum, 0, pulselen);
    
35.   }
    
36.   delay(300);
    
37. }

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