マイコン不要・スマホからサーボモータを簡単に動かそう【GlueMotor×Swift】 ref: https://qiita.com/watakemi725/items/dc7dc4b9eef2d839861b

(プロジェクト名)_Bridging_Header.h

#import "GlueMotorCore.h"

ViewController.swift

import UIKit

class ViewController: UIViewController,GlueMotorCoreDelegate/*GlueMotorのデリゲートまわり*/ {


    //UILable,UISliderまわりの宣言
    @IBOutlet var servoALabel:UILabel!
    @IBOutlet var slideMotorA:UISlider!

    @IBOutlet var servoBLabel:UILabel!
    @IBOutlet var slideMotorB:UISlider!

    //GlueMotorまわり
    var glueMotor:GlueMotorCore!
    var servoAPulseWidth:TimeInterval!
    var servoBPulseWidth:TimeInterval!

    //角度調整用値
    var angleAmountA = 0.0000001
    var angleAmountB = 0.0000001


    override func viewDidLoad() {
        super.viewDidLoad()
        // Do any additional setup after loading the view, typically from a nib.

        glueMotor = GlueMotorCore.sharedInstance() as! GlueMotorCore
        glueMotor.delegate = self

        //待機状態の数値をsliderに反映させる 初期値は0.0015
        slideMotorA.value = Float(0.0015)
        slideMotorB.value = Float(0.0015)

        //モータへの周波数にも反映させる
        servoAPulseWidth = TimeInterval(slideMotorA.value)
        servoBPulseWidth = TimeInterval(slideMotorB.value)

        //ラベルにも表示させる
        servoALabel.text = "A:"+String(format:"%f", servoAPulseWidth * 1000)
        servoBLabel.text = "B:"+String(format:"%f", servoBPulseWidth * 1000)

        //周波数をupdate
        self.updatePulseWidth()
    }

    @IBAction func slidercahngedA(_ sender : UISlider){
        //Sliderが変更された時に周波数も変更
        servoAPulseWidth = TimeInterval(sender.value)
        self.updateLabels()
    }

    @IBAction func slidercahngedB(_ sender : UISlider){

        print(sender.value)
        servoBPulseWidth = TimeInterval(sender.value)
        self.updateLabels()
    }

    //周波数をupdate
    func updatePulseWidth(){
        glueMotor.setPulseWidth(servoAPulseWidth, forServo: 1)

        glueMotor.setPulseWidth(servoBPulseWidth, forServo: 0)
    }

    //labelの表示変更
    func updateLabels(){
        servoALabel.text = "A:"+String(format:"%f", servoAPulseWidth * 1000)
        servoBLabel.text = "B:"+String(format:"%f", servoBPulseWidth * 1000)
    }

    //glueMotorお約束
    func glueMotorCoreWillStartPWMCycle(_ glueMotor:GlueMotorCore){
        // NOTE: this delegate method will be called in Audio Queue thread, so don't call the UI related API from here.
        self.updatePulseWidth()
    }

    override func didReceiveMemoryWarning() {
        super.didReceiveMemoryWarning()
        // Dispose of any resources that can be recreated.
    }


}