Servo Motor (Servo Class)
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Servo Motor (Servo Class)
This library allows the GR-ADZUKI board to control servo motors. The Servo library supports up to 12 motors on the GR-ADZUKI board. To use, download as a library and specify #include <servo.h>. You will need to create Servo servo0; or similar instance. (See the example program.)
attach
- Description
- Initializes and attaches the Servo output to a pin.
- Syntax
- servo.attach(int pin)servo.attach(int pin, int min, int max)
- Parameters
- pin: The number of the pin to which the servo is attached
min: The pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the servo (defaults to 544)
max: The pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the servo (defaults to 2400) - Returns
- None
write
- Description
- Writes a value to the servo to set the shaft angle, controlling the shaft accordingly. The pulse for moving the shaft to that orientation is output from the pin specified in attach.
- Syntax
- servo.write(int angle)
- Parameters
- angle: The value of the angle to write to the servo, from 0 to 180
- Returns
- None
writeMicroseconds
- Description
- Writes a value in microseconds (µS) to the servo to set the shaft angle, controlling the shaft accordingly. The pulse is sent to the servo motor in 20ms intervals, meaning the high-duration time (µS) per interval.
- Syntax
- servo.writeMicroseconds(int us)
- Parameters
- us: The value of the pulse width in microseconds. Range: 1 to 19999. Set to 0 to turn output OFF
- Returns
- None
read
- Description
- Read the current angle of the servo (the value passed to the last call to write()). However, the value given in writeMicroseconds cannot be read.
- Syntax
- int servo.read()
- Parameters
- None
- Returns
- pulse width
[us]
attached
- Description
- Check whether the Servo variable is attached to a pin.
- Syntax
- bool servo.attached()
- Parameters
- None
- Returns
- True if the Servo is attached to pin; false otherwise.
detach
- Description
- Detach the Servo variable from its pin. This stops the pulse width output from the specified pin.
- Syntax
- servo.detach()
- Parameters
- None
- Returns
- None
Example
This example uses pin 4 as the servo motor output pin, and rotates the motor in steps 10 degrees every 500ms.
#include <Arduino.h>
#include <servo.h>
#define INTERVAL 500
unsigned char g_pos = 0;
Servo servo0;
void setup()
{
servo0.attach(4);
}
void loop() {
servo0.write(g_pos);
g_pos+=10;
if(g_pos > 180){
g_pos = 0;
}
delay(INTERVAL);
}