A basic way to loop multiple servos. Modified from Adafruit PWM Driver Library. (https://learn.adafruit.com/adafruit-16-channel-pwm-slash-servo-shield/using-the-adafruit-library)
/*************************************************** | |
This is an example for our Adafruit 16-channel PWM & Servo driver | |
Servo test - this will drive 16 servos, one after the other | |
Pick one up today in the adafruit shop! | |
------> http://www.adafruit.com/products/815 | |
These displays use I2C to communicate, 2 pins are required to | |
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4 | |
Adafruit invests time and resources providing this open source code, | |
please support Adafruit and open-source hardware by purchasing | |
products from Adafruit! | |
Written by Limor Fried/Ladyada for Adafruit Industries. | |
BSD license, all text above must be included in any redistribution | |
****************************************************/ | |
#include <Wire.h> | |
#include <Adafruit_PWMServoDriver.h> | |
// called this way, it uses the default address 0x40 | |
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(); | |
// you can also call it with a different address you want | |
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41); | |
// Depending on your servo make, the pulse width min and max may vary, you | |
// want these to be as small/large as possible without hitting the hard stop | |
// for max range. You'll have to tweak them as necessary to match the servos you | |
// have! | |
#define SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096) | |
#define SERVOMAX 550 // this is the 'maximum' pulse length count (out of 4096) | |
// our servo # counter | |
uint8_t servonum = 0; | |
void setup() { | |
Serial.begin(9600); | |
Serial.println("16 channel Servo test!"); | |
pwm.begin(); | |
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates | |
yield(); | |
} | |
// you can use this function if you'd like to set the pulse length in seconds | |
// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. its not precise! | |
void setServoPulse(uint8_t n, double pulse) { | |
double pulselength; | |
pulselength = 1000000; // 1,000,000 us per second | |
pulselength /= 60; // 60 Hz | |
Serial.print(pulselength); Serial.println(" us per period"); | |
pulselength /= 4096; // 12 bits of resolution | |
Serial.print(pulselength); Serial.println(" us per bit"); | |
pulse *= 1000; | |
pulse /= pulselength; | |
Serial.println(pulse); | |
pwm.setPWM(n, 0, pulse); | |
} | |
void loop() { | |
for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) | |
{ | |
pwm.setPWM(servonum, 0, pulselen); | |
pwm.setPWM(servonum, 2, pulselen); | |
} | |
delay(30); | |
servonum ++; | |
if (servonum > 4) servonum = 0; | |
} |
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