servo driver example

examples/servo/servo.pde

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+/*************************************************** 
+  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  600 // 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
+}
+
+// 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() {
+  // Drive each servo one at a time
+  Serial.println(servonum);
+  for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) {
+    pwm.setPWM(servonum, 0, pulselen);
+  }
+  delay(500);
+  for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen--) {
+    pwm.setPWM(servonum, 0, pulselen);
+  }
+  delay(500);
+
+  servonum ++;
+  if (servonum > 15) servonum = 0;
+}