ArduinoでPCA9685を使って複数のサーボモータを回してみる

multiple_servo.ino

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define SERVOMIN 150
#define SERVOMAX 600
#define CENTER 375
#define PIN_BUTTON1 8
#define PIN_BUTTON2 7
#define STEP 30
int target = 0;
int val = 90;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);

  pinMode(PIN_BUTTON1, INPUT);
  pinMode(PIN_BUTTON2, INPUT);
  
  pwm.begin();
  pwm.setPWMFreq(60);
  pwm.setPWM(0, 0, CENTER);
  pwm.setPWM(4, 0, CENTER);
  pwm.setPWM(8, 0, CENTER);
}

void move(int target, int degree){
  float pos = map(degree, 0, 180, SERVOMIN, SERVOMAX);
  Serial.print(degree);
  Serial.print(" : ");
  Serial.println(pos);
  pwm.setPWM(target, 0, pos);
}

void moveAll(int degree){
    move(0, degree);
    move(4, degree);
    move(8, degree);
    //delay(20);  
}

void loop() {
  // put your main code here, to run repeatedly:
  int button1State = digitalRead(PIN_BUTTON1);
  int button2State = digitalRead(PIN_BUTTON2);

  if( (button1State == LOW) && (button2State == HIGH) ) {
    val-=STEP;
    moveAll(val);
  }else if((button1State == HIGH) && (button2State == LOW)){
    val+=STEP;
    moveAll(val);
  }else{
   delay(1000);   
  }  
}