pololu servo controller test file.c

// the time between bits about 9600 bauds
#define bitDelay 101

void printByte(char out) {
  
  digitalWrite(7, HIGH); // start bit
  delayMicroseconds(bitDelay);
  for(char mask=0x01; mask; mask <<=1) {
    digitalWrite(7, out & mask ? HIGH : LOW);  // I am not sure which way this should go
    delayMicroseconds(bitDelay);
  }
  digitalWrite(7, LOW); // stop bit
  delayMicroseconds(bitDelay); // do I need this here
}

void setup () {
  Serial.begin(57600);
  pinMode(7, OUTPUT);
  pinMode(4, OUTPUT);
  digitalWrite(4, HIGH); // reset the servo controller
  delay(1000);
  digitalWrite(4, LOW);
  delay(500);
  printByte(0x80); // send some init commands (is this needed?)
  printByte(0x01);
  printByte(0x00);
  printByte(0x01);
  printByte(0x7F);
}

void loop () {
  //int bitDelay = 1000000/print_rate - clockCyclesToMicroseconds(50);
//  int bitDelay = 101;
/* ///////////////// for when I was testing Mini SSC mode
  printByte(0xFF);
  printByte(10);
  printByte(254);
*/
// the pololu mode
  printByte(0x80); // sync byte
  printByte(0x01); // device id
  printByte(0x02); // command
  printByte(0x02); // servo number
  printByte(0x76); // data1/location
  //Serial.println(bitDelay); 
  delay(1000);
}