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Arduino Servo Control Code
// Serial Servo
// by Paul H. Dietz, 4/22/2014
//
// Allows an Arduino UNO to act like a Scott Edwards Mini Serial Servo Controller.
//
// Data Format:
//
// 9600 baud, 8-N-1
//
// Sync byte (255), Servo Num (2-13), Postion (0-254)
//
// Position to us:
//
// 6 * Position + 738
//
// 0 -> 738us, 254 -> 2262us
//
// This code is in the public domain. Use at your own risk.
#include <Servo.h>
byte ServoNum, ServoPos;
// Byte count for input
byte inCNT=0;
// create servo objects
Servo servo2, servo3, servo4, servo5, servo6, servo7, servo8, servo9, servo10, servo11, servo12, servo13;
void setup()
{
// Initialize serial:
Serial.begin(9600);
// Initialize Servos
servo2.attach(2);
servo3.attach(3);
servo4.attach(4);
servo5.attach(5);
servo6.attach(6);
servo7.attach(7);
servo8.attach(8);
servo9.attach(9);
servo10.attach(10);
servo11.attach(11);
servo12.attach(12);
servo13.attach(13);
}
/* Wait for data, then process
inCNT keeps track of current state:
0 – Waiting for sync byte
1 – Sync byte received
2 – Sync byte and ServoNum received
*/
void loop() {
while (Serial.available()) {
// get the new byte:
byte inByte = Serial.read();
if (inByte == 255){
// Sync found
inCNT = 1;
}
else {
if (inCNT == 1) {
ServoNum = inByte;
inCNT = 2;
}
else {
if (inCNT == 2) {
ServoPos = inByte;
setServo();
inCNT = 0;
}
else {
inCNT = 0;
}
}
}
}
}
void setServo() {
switch (ServoNum) {
case 2:
servo2.writeMicroseconds((int)ServoPos*6+738);
break;
case 3:
servo3.writeMicroseconds((int)ServoPos*6+738);
break;
case 4:
servo4.writeMicroseconds((int)ServoPos*6+738);
break;
case 5:
servo5.writeMicroseconds((int)ServoPos*6+738);
break;
case 6:
servo6.writeMicroseconds((int)ServoPos*6+738);
break;
case 7:
servo7.writeMicroseconds((int)ServoPos*6+738);
break;
case 8:
servo8.writeMicroseconds((int)ServoPos*6+738);
break;
case 9:
servo9.writeMicroseconds((int)ServoPos*6+738);
break;
case 10:
servo10.writeMicroseconds((int)ServoPos*6+738);
break;
case 11:
servo11.writeMicroseconds((int)ServoPos*6+738);
break;
case 12:
servo12.writeMicroseconds((int)ServoPos*6+738);
break;
case 13:
servo13.writeMicroseconds((int)ServoPos*6+738);
break;
}
}
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