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servoTest.ino
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servoTest.ino
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#include <Servo.h>
int servo1Pin = 1;
int servo2Pin = 2;
int servo3Pin = 3;
int servo4Pin = 4;
int servo5Pin = 5;
Servo s1;
Servo s2;
Servo s3;
Servo s4;
Servo s5;
void setup() {
Serial.begin(9600);
s1.attach(servo1Pin);
s2.attach(servo2Pin);
s3.attach(servo3Pin);
s4.attach(servo4Pin);
s5.attach(servo5Pin);
}
void writeToServo(int servo, int angle) {
//first three use different pulse ranges
if ( servo == 1 ) s1.writeMicroseconds(angle*2000.0/180.0 + 500);
if ( servo == 2 ) s2.writeMicroseconds(angle*2000.0/180.0 + 500);
if ( servo == 3 ) s3.writeMicroseconds(angle*2000.0/180.0 + 500);
//these two are standard
if ( servo == 4 ) s4.write(angle);
if ( servo == 5 ) s5.write(angle);
}
void loop() {
int whichServo = 0;
int incomingByte = 0;
if (Serial.available() > 1) {
whichServo = Serial.read();
incomingByte = Serial.read();
Serial.print("Servo ");
Serial.print(whichServo, DEC);
Serial.print(" received: ");
Serial.print(incomingByte, DEC);
Serial.print(" (");
Serial.print((incomingByte*2000.0/180.0 + 500), DEC);
Serial.println(" microseconds)");
writeToServo(whichServo, incomingByte);
}
}